5 #ifndef __pinocchio_algorithm_model_hpp__ 6 #define __pinocchio_algorithm_model_hpp__ 8 #include "pinocchio/multibody/model.hpp" 9 #include "pinocchio/multibody/geometry.hpp" 24 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
26 appendModel(
const ModelTpl<Scalar,Options,JointCollectionTpl> & modelA,
27 const ModelTpl<Scalar,Options,JointCollectionTpl> & modelB,
28 const FrameIndex frameInModelA,
29 const SE3Tpl<Scalar,Options> & aMb,
30 ModelTpl<Scalar,Options,JointCollectionTpl> & model);
43 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
44 ModelTpl<Scalar,Options,JointCollectionTpl>
47 const FrameIndex frameInModelA,
65 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
71 const FrameIndex frameInModelA,
88 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
91 std::vector<JointIndex> list_of_joints_to_lock,
92 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration,
108 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
111 const std::vector<JointIndex> & list_of_joints_to_lock,
112 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration)
117 buildReducedModel(model,list_of_joints_to_lock,reference_configuration,reduced_model);
119 return reduced_model;
136 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
140 const std::vector<JointIndex> & list_of_joints_to_lock,
141 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration,
147 #include "pinocchio/algorithm/model.hxx" 149 #endif // ifndef __pinocchio_algorithm_model_hpp__
void appendModel(const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model)
Append a child model into a parent model, after a specific frame given by its index. the model given as reference argument.
Main pinocchio namespace.
void buildReducedModel(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::vector< JointIndex > list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model)
Build a reduced model from a given input model and a list of joint to lock.