aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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fwd.hpp
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1
2#pragma once
3
5#include <pinocchio/algorithm/frames.hpp>
6
7namespace aligator {
8
9struct frame_api {
10 pinocchio::FrameIndex getFrameId() const { return pin_frame_id_; }
11 void setFrameId(const std::size_t id) { pin_frame_id_ = id; }
12
13protected:
14 pinocchio::FrameIndex pin_frame_id_;
15};
16
17template <typename> struct MultibodyConfiguration;
18template <typename> struct MultibodyPhaseSpace;
19
20namespace context {
21using PinModel = pinocchio::ModelTpl<Scalar, Options>;
22using PinData = pinocchio::DataTpl<Scalar, Options>;
23
24using RCM = pinocchio::RigidConstraintModelTpl<Scalar, Options>;
25using RCD = pinocchio::RigidConstraintDataTpl<Scalar, Options>;
28} // namespace context
29
30} // namespace aligator
pinocchio::ModelTpl< Scalar, Options > PinModel
Definition fwd.hpp:21
MultibodyPhaseSpace< Scalar > MultibodyPhaseSpace
Definition fwd.hpp:27
pinocchio::RigidConstraintModelTpl< Scalar, Options > RCM
Definition fwd.hpp:24
MultibodyConfiguration< Scalar > MultibodyConfiguration
Definition fwd.hpp:26
pinocchio::DataTpl< Scalar, Options > PinData
Definition fwd.hpp:22
pinocchio::RigidConstraintDataTpl< Scalar, Options > RCD
Definition fwd.hpp:25
Main package namespace.
Multibody configuration group , defined using the Pinocchio library.
Definition multibody.hpp:17
The tangent bundle of a multibody configuration group.
pinocchio::FrameIndex getFrameId() const
Definition fwd.hpp:10
pinocchio::FrameIndex pin_frame_id_
Definition fwd.hpp:14
void setFrameId(const std::size_t id)
Definition fwd.hpp:11