Template Function pinocchio::bias

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline MotionTpl<Scalar, Options> pinocchio::bias(const JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata)

Visit a JointDataTpl through JointBiasVisitor to get the joint bias as a dense motion.

Parameters:

jdata – [in] The joint data to visit.

Returns:

The motion dense corresponding to the joint derived bias