Template Function pinocchio::setIndexes

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline void pinocchio::setIndexes(JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel, JointIndex id, int q, int v)

Visit a JointModelTpl through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain.

Parameters:

• jmodel – [in] The JointModelVariant

• id – [in] The index of joint in the kinematic chain

• q – [in] The index in the full model configuration space corresponding to the first degree of freedom

• v – [in] The index in the full model tangent space corresponding to the first joint tangent space degree

Returns:

The index of the joint in the kinematic chain