Function roboplan::jointPositionsWithMimicsFromPinocchio

• Defined in File scene_utils.hpp

Function Documentation

Eigen::VectorXd roboplan::jointPositionsWithMimicsFromPinocchio(const Scene &scene, const Eigen::VectorXd &q)

Builds joint positions for all joints in getJointNamesWithMimics() order.

Non-mimic joints copy their Pinocchio q block; mimic joints use the mimic law.

Parameters:

• scene – The scene from which to look up joint information.

• q – The Pinocchio configuration vector (model.nq).

Returns:

Position vector aligned with getJointNamesWithMimics().