pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Loading...
Searching...
No Matches
ModelPythonVisitor< Model > Struct Template Reference
Inheritance diagram for ModelPythonVisitor< Model >:
Inheritance graph
[legend]
Collaboration diagram for ModelPythonVisitor< Model >:
Collaboration graph
[legend]

Public Types

typedef Model::Data Data
typedef Model::Force Force
typedef Model::Frame Frame
typedef Model::FrameIndex FrameIndex
typedef Model::Index Index
typedef Model::IndexVector IndexVector
typedef Model::Inertia Inertia
typedef Model::JointIndex JointIndex
typedef Model::JointModel JointModel
typedef JointModel::JointModelVariant JointModelVariant
typedef Model::Motion Motion
typedef Model::Scalar Scalar
typedef Model::SE3 SE3
typedef Model::VectorXs VectorXs

Public Member Functions

template<class PyClass>
void visit (PyClass &cl) const

Static Public Member Functions

static JointIndex addJoint0 (Model &model, JointIndex parent_id, const JointModel &jmodel, const SE3 &joint_placement, const std::string &joint_name)
static JointIndex addJoint1 (Model &model, JointIndex parent_id, const JointModel &jmodel, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &max_effort, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config)
static JointIndex addJoint2 (Model &model, JointIndex parent_id, const JointModel &jmodel, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &min_effort, const VectorXs &max_effort, const VectorXs &min_velocity, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config, const VectorXs &min_friction, const VectorXs &max_friction, const VectorXs &damping)
static JointIndex addJoint3 (Model &model, JointIndex parent_id, const JointModel &jmodel, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &min_effort, const VectorXs &max_effort, const VectorXs &min_velocity, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config, const VectorXs &config_limit_margin, const VectorXs &min_friction, const VectorXs &max_friction, const VectorXs &damping)
static void expose ()
template<typename T>
static Index index (std::vector< T > const &x, typename std::vector< T >::value_type const &v)
 Provide equivalent to python list index function for vectors.

Detailed Description

template<typename Model>
struct pinocchio::python::ModelPythonVisitor< Model >

Definition at line 37 of file model.hpp.

Member Typedef Documentation

◆ Data

template<typename Model>
typedef Model::Data Data

Definition at line 55 of file model.hpp.

◆ Force

template<typename Model>
typedef Model::Force Force

Definition at line 51 of file model.hpp.

◆ Frame

template<typename Model>
typedef Model::Frame Frame

Definition at line 52 of file model.hpp.

◆ FrameIndex

template<typename Model>
typedef Model::FrameIndex FrameIndex

Definition at line 46 of file model.hpp.

◆ Index

template<typename Model>
typedef Model::Index Index

Definition at line 42 of file model.hpp.

◆ IndexVector

template<typename Model>
typedef Model::IndexVector IndexVector

Definition at line 47 of file model.hpp.

◆ Inertia

template<typename Model>
typedef Model::Inertia Inertia

Definition at line 53 of file model.hpp.

◆ JointIndex

template<typename Model>
typedef Model::JointIndex JointIndex

Definition at line 43 of file model.hpp.

◆ JointModel

template<typename Model>
typedef Model::JointModel JointModel

Definition at line 44 of file model.hpp.

◆ JointModelVariant

template<typename Model>
typedef JointModel::JointModelVariant JointModelVariant

Definition at line 45 of file model.hpp.

◆ Motion

template<typename Model>
typedef Model::Motion Motion

Definition at line 50 of file model.hpp.

◆ Scalar

template<typename Model>
typedef Model::Scalar Scalar

Definition at line 40 of file model.hpp.

◆ SE3

template<typename Model>
typedef Model::SE3 SE3

Definition at line 49 of file model.hpp.

◆ VectorXs

template<typename Model>
typedef Model::VectorXs VectorXs

Definition at line 57 of file model.hpp.

Member Function Documentation

◆ addJoint0()

template<typename Model>
JointIndex addJoint0(Model &model,
JointIndexparent_id,
const JointModel &jmodel,
const SE3 &joint_placement,
const std::string &joint_name )
inlinestatic

Definition at line 300 of file model.hpp.

◆ addJoint1()

template<typename Model>
JointIndex addJoint1(Model &model,
JointIndexparent_id,
const JointModel &jmodel,
const SE3 &joint_placement,
const std::string &joint_name,
const VectorXs &max_effort,
const VectorXs &max_velocity,
const VectorXs &min_config,
const VectorXs &max_config )
inlinestatic

Definition at line 310 of file model.hpp.

◆ addJoint2()

template<typename Model>
JointIndex addJoint2(Model &model,
JointIndexparent_id,
const JointModel &jmodel,
const SE3 &joint_placement,
const std::string &joint_name,
const VectorXs &min_effort,
const VectorXs &max_effort,
const VectorXs &min_velocity,
const VectorXs &max_velocity,
const VectorXs &min_config,
const VectorXs &max_config,
const VectorXs &min_friction,
const VectorXs &max_friction,
const VectorXs &damping )
inlinestatic

Definition at line 326 of file model.hpp.

◆ addJoint3()

template<typename Model>
JointIndex addJoint3(Model &model,
JointIndexparent_id,
const JointModel &jmodel,
const SE3 &joint_placement,
const std::string &joint_name,
const VectorXs &min_effort,
const VectorXs &max_effort,
const VectorXs &min_velocity,
const VectorXs &max_velocity,
const VectorXs &min_config,
const VectorXs &max_config,
const VectorXs &config_limit_margin,
const VectorXs &min_friction,
const VectorXs &max_friction,
const VectorXs &damping )
inlinestatic

Definition at line 347 of file model.hpp.

◆ expose()

template<typename Model>
void expose()
inlinestatic

Definition at line 395 of file model.hpp.

◆ index()

template<typename Model>
template<typename T>
Index index(std::vector< T > const &x,
typename std::vector< T >::value_type const &v )
inlinestatic

Provide equivalent to python list index function for vectors.

Parameters
[in]xThe input vector.
[in]vThe value of to look for in the vector.
Returns
The index of the matching element of the vector. If no element is found, return the size of the vector.

Definition at line 381 of file model.hpp.

◆ visit()

template<typename Model>
template<class PyClass>
void visit(PyClass &cl)const
inline

Definition at line 62 of file model.hpp.

The documentation for this struct was generated from the following file:
  • include/pinocchio/bindings/python/multibody/model.hpp