Template Function pinocchio::id

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline JointIndex pinocchio::id(const JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel)

Visit a JointModelTpl through JointIdVisitor to get the index of the joint in the kinematic chain.

Parameters:

jmodel – [in] The JointModelVariant

Returns:

The index of the joint in the kinematic chain