Template Function pinocchio::calc_first_order

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline void pinocchio::calc_first_order(const JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel, JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType> &v)

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one.

Template Parameters:

• JointCollection – Collection of Joint types.

• ConfigVectorType – Type of the joint configuration vector.

• TangentVectorType – Type of the joint velocity vector.

Parameters:

• jmodel – [in] The corresponding JointModelVariant to the JointDataVariant we want to update

• jdata – The JointDataVariant we want to update

• q – [in] The full model’s (in which the joint belongs to) configuration vector

• v – [in] The full model’s (in which the joint belongs to) velocity vector