Template Function pinocchio::computeJointKinematicHessians(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&)

Function Documentation

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

Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian. This function assumes that the joint Jacobians (a.k.a data.J) has been computed first. See computeJointJacobians for such a function.

Remark

This function is also related to

See also

getJointKinematicHessian.

Template Parameters:

  • Scalar – Scalar type of the kinematic model.

  • Options – Alignement options of the kinematic model.

  • JointCollection – Collection of Joint types.

Parameters:

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

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