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]