Template Function pinocchio::updateFramePlacements

• Defined in File frames.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline void pinocchio::updateFramePlacements(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data)

Updates the position of each frame contained in the model.

Warning

One of the algorithms forwardKinematics should have been called first.

Template Parameters:

JointCollection – Collection of Joint types.

Parameters:

• model – [in] The kinematic model.

• data – Data associated to model.