Commit d42beb9e authored by jcarpent's avatar jcarpent
Browse files

[C++][Doc] Clean model

parent 16f2d75a
......@@ -27,7 +27,6 @@
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/frame.hpp"
#include "pinocchio/multibody/joint/joint.hpp"
#include "pinocchio/tools/string-generator.hpp"
#include <iostream>
#include <Eigen/Cholesky>
......@@ -100,13 +99,17 @@ namespace se3
/// \brief Vector of operational frames registered on the model.
std::vector<Frame> frames;
/// \brief Spatial gravity
/// \brief Vector of subtrees
/// subtree[j] corresponds to the subtree supported by the joint j.
std::vector<IndexVector> subtrees;
/// \brief Spatial gravity of the model.
Motion gravity;
/// \brief Default 3D gravity vector (=(0,0,-9.81)).
static const Eigen::Vector3d gravity981;
/// \brief Default constructor
/// \brief Default constructor. Builds an empty model with no joints.
Model()
: nq(0)
, nv(0)
......
......@@ -20,6 +20,7 @@
#define __se3_model_hxx__
#include "pinocchio/spatial/fwd.hpp"
#include "pinocchio/tools/string-generator.hpp"
#include <boost/bind.hpp>
......@@ -32,7 +33,7 @@ namespace se3
os << "Nb bodies = " << model.nbody << " (nq="<< model.nq<<",nv="<<model.nv<<")" << std::endl;
for(Model::Index i=0;i<(Model::Index)(model.nbody);++i)
{
os << " Joint "<<model.names[i] << ": parent=" << model.parents[i] << std::endl;
os << " Joint "<< model.names[i] << ": parent=" << model.parents[i] << std::endl;
}
return os;
......
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