pinocchio  2.5.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
sample-models.hpp
1 //
2 // Copyright (c) 2015-2018 CNRS
3 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5 
6 #ifndef __pinocchio_sample_models_hpp__
7 #define __pinocchio_sample_models_hpp__
8 
9 #include "pinocchio/multibody/model.hpp"
10 #include "pinocchio/multibody/geometry.hpp"
11 
12 namespace pinocchio
13 {
14  namespace buildModels
15  {
20  template<typename Scalar, int Options,
21  template<typename,int> class JointCollectionTpl>
22  void manipulator(ModelTpl<Scalar,Options,JointCollectionTpl> & model);
23 
24 #ifdef PINOCCHIO_WITH_HPP_FCL
25 
31  template<typename Scalar, int Options,
32  template<typename,int> class JointCollectionTpl>
33  void manipulatorGeometries(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
34  GeometryModel & geom);
35 #endif
36 
49  template<typename Scalar, int Options,
50  template<typename,int> class JointCollectionTpl>
51  void humanoid(ModelTpl<Scalar,Options,JointCollectionTpl> & model,
52  bool usingFF=true);
53 
54 #ifdef PINOCCHIO_WITH_HPP_FCL
55 
61  template<typename Scalar, int Options,
62  template<typename,int> class JointCollectionTpl>
63  void humanoidGeometries(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
64  GeometryModel & geom);
65 #endif
66 
78  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl>
79  void humanoidRandom(ModelTpl<Scalar,Options,JointCollectionTpl> & model, bool usingFF = true);
80 
81  } // namespace buildModels
82 } // namespace pinocchio
83 
84 #include "pinocchio/parsers/sample-models.hxx"
85 
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.
Definition: treeview.dox:24
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.