pinocchio  2.2.1-dirty
algorithm/model.hpp
1 //
2 // Copyright (c) 2019 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_algorithm_model_hpp__
6 #define __pinocchio_algorithm_model_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/geometry.hpp"
10 
11 namespace pinocchio
12 {
26  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
27  void
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);
33 
41  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
42  void
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);
51 
63  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
64  ModelTpl<Scalar,Options,JointCollectionTpl>
65  buildReducedModel(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
66  std::vector<JointIndex> list_of_joints_to_lock,
67  const Eigen::MatrixBase<ConfigVectorType> & reference_configuration);
68 
69 } // namespace pinocchio
70 
71 #include "pinocchio/algorithm/model.hxx"
72 
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.
Definition: treeview.dox:24