6 #ifndef __pinocchio_sample_models_hpp__ 7 #define __pinocchio_sample_models_hpp__ 9 #include "pinocchio/multibody/model.hpp" 10 #include "pinocchio/multibody/geometry.hpp" 20 template<
typename Scalar,
int Options,
21 template<
typename,
int>
class JointCollectionTpl>
22 void manipulator(ModelTpl<Scalar,Options,JointCollectionTpl> & model);
24 #ifdef PINOCCHIO_WITH_HPP_FCL 31 template<
typename Scalar,
int Options,
32 template<
typename,
int>
class JointCollectionTpl>
34 GeometryModel & geom);
49 template<
typename Scalar,
int Options,
50 template<
typename,
int>
class JointCollectionTpl>
51 void humanoid(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
54 #ifdef PINOCCHIO_WITH_HPP_FCL 61 template<
typename Scalar,
int Options,
62 template<
typename,
int>
class JointCollectionTpl>
64 GeometryModel & geom);
78 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
79 void humanoidRandom(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
bool usingFF =
true);
84 #include "pinocchio/parsers/sample-models.hxx" 86 #endif // ifndef __pinocchio_sample_models_hpp__ void humanoid(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a 28-DOF kinematic chain of a floating humanoid robot.
Main pinocchio namespace.
void manipulatorGeometries(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom)
Create the geometries on top of the kinematic model created by manipulator function.
void humanoidRandom(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.
void humanoidGeometries(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, GeometryModel &geom)
Create the geometries on top of the kinematic model created by humanoid function. ...
void manipulator(ModelTpl< Scalar, Options, JointCollectionTpl > &model)
Create a 6-DOF kinematic chain shoulder-elbow-wrist.