Useful when one does not known which robot will be loaded.

Joseph Mirabel authored 7 years ago and Joseph Mirabel committed 7 years ago

* hpp-fcl uses only Eigen types in future version.
* The FCL_HAVE_EIGEN makes it compatible with older version of hpp-fcl.
* See comment in src/spatial/fcl-pinocchio-conversions.hpp
* for more details.

Call simply model.check(data)

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* In both cases, the frame tree starts with frame "root_joint"

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* When not set, the limits are set to infinity.

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* SE(n) -> SpecialEuclideanOperation<N>
* SO(n) -> SpecialOrthogonalOperation<N>

Joseph Mirabel authored 8 years ago and Joseph Mirabel committed 8 years ago

* The spaces taken into account are SO1, SO3, SE1, SE3, vector spaces
* and Cartesian product of two of them.