5 #ifndef __pinocchio_algorithm_model_hpp__ 6 #define __pinocchio_algorithm_model_hpp__ 8 #include "pinocchio/multibody/model.hpp" 9 #include "pinocchio/multibody/geometry.hpp" 26 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
28 appendModel(
const ModelTpl<Scalar,Options,JointCollectionTpl> & modelA,
29 const ModelTpl<Scalar,Options,JointCollectionTpl> & modelB,
30 FrameIndex frameInModelA,
31 const SE3Tpl<Scalar,Options> & aMb,
32 ModelTpl<Scalar,Options,JointCollectionTpl> & model);
41 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
43 appendModel(
const ModelTpl<Scalar,Options,JointCollectionTpl> & modelA,
44 const ModelTpl<Scalar,Options,JointCollectionTpl> & modelB,
45 const GeometryModel & geomModelA,
46 const GeometryModel & geomModelB,
47 FrameIndex frameInModelA,
48 const SE3Tpl<Scalar,Options> & aMb,
49 ModelTpl<Scalar,Options,JointCollectionTpl> & model,
50 GeometryModel & geomModel);
63 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
64 ModelTpl<Scalar,Options,JointCollectionTpl>
66 std::vector<JointIndex> list_of_joints_to_lock,
67 const Eigen::MatrixBase<ConfigVectorType> & reference_configuration);
71 #include "pinocchio/algorithm/model.hxx" 73 #endif // ifndef __pinocchio_algorithm_model_hpp__ void appendModel(const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb, ModelTpl< Scalar, Options, JointCollectionTpl > &model)
Append a child model into a parent model, after a specific frame. the model given as reference argume...
ModelTpl< Scalar, Options, JointCollectionTpl > buildReducedModel(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::vector< JointIndex > list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration)
Build a reduce model from a given input model and a list of joint to lock.
Main pinocchio namespace.