Template Function pinocchio::updateFramePlacement
Defined in File frames.hxx
Function Documentation
-
template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline const DataTpl<Scalar, Options, JointCollectionTpl>::SE3 &pinocchio::updateFramePlacement(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const FrameIndex frame_id) Updates the placement of the given frame.
Warning
One of the algorithms forwardKinematics should have been called first
- Parameters:
model – [in] The kinematic model.
data – Data associated to model.
frame_id – [in] Id of the operational Frame.
- Returns:
A reference to the frame placement stored in data.oMf[frame_id]