Template Function pinocchio::getJointJacobianTimeVariation

• Defined in File jacobian.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6Like>
inline void pinocchio::getJointJacobianTimeVariation(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6Like> &dJ)

Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL) of the joint.

Note

This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.

Template Parameters:

• JointCollection – Collection of Joint types.

• Matrix6xLike – Type of the matrix containing the joint Jacobian.

Parameters:

• localFrame – [in] Expressed the Jacobian in the local frame or world frame coordinates system.

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

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

• jointId – [in] The id of the joint.

• dJ – [out] A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill dJ with zero elements, e.g. dJ.fill(0.).