Template Function pinocchio::forwardKinematics(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType>&)

• Defined in File kinematics.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline void pinocchio::forwardKinematics(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType> &v)

Update the joint placements and spatial velocities according to the current joint configuration and velocity.

Template Parameters:

• JointCollection – Collection of Joint types.

• ConfigVectorType – Type of the joint configuration vector.

• TangentVectorType – Type of the joint velocity vector.

Parameters:

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

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

• q – [in] The joint configuration (vector dim model.nq).

• v – [in] The joint velocity (vector dim model.nv).