Template Function pinocchio::jacobianSubtreeCenterOfMass(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const JointIndex&, const Eigen::MatrixBase<Matrix3xLike>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix3xLike>
inline void pinocchio::jacobianSubtreeCenterOfMass(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const JointIndex &rootSubtreeId, const Eigen::MatrixBase<Matrix3xLike> &res)

Computes the Jacobian of the center of mass of the given subtree according to a particular joint configuration. In addition, the algorithm also computes the Jacobian of all the joints (.

See also

pinocchio::computeJointJacobians).

Template Parameters:

  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

  • Matrix3xLike – Type of the output Jacobian matrix.

Parameters:

  • model – [in] The model structure of the rigid body system.

  • data – [in] The data structure of the rigid body system.

  • q – [in] The joint configuration vector (dim model.nq).

  • rootSubtreeId – [in] Index of the parent joint supporting the subtree.

  • res – [out] The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().