Template Function pinocchio::cast_joint

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename NewScalar, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
CastType<NewScalar, JointModelTpl<Scalar, Options, JointCollectionTpl>>::type pinocchio::cast_joint(const JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel)

Visit a JointModelTpl<Scalar,…> to cast it into JointModelTpl<NewScalar,…>

Template Parameters:

NewScalar – new scalar type of of the JointModelTpl

Parameters:

jmodel – [in] The joint model to cast.

Returns:

A new JointModelTpl<NewScalar,…> casted from JointModelTpl<Scalar,…>.