Template Function pinocchio::updateGeometryPlacements(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const GeometryModel&, GeometryData&, const Eigen::MatrixBase<ConfigVectorType>&)

• Defined in File geometry.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
inline void pinocchio::updateGeometryPlacements(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::MatrixBase<ConfigVectorType> &q)

Apply a forward kinematics and update the placement of the geometry objects.

Template Parameters:

• JointCollection – Collection of Joint types.

• ConfigVectorType – Type of the joint configuration vector.

Parameters:

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

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

• geom_model – [in] The geometry model containing the collision objects.

• geom_data – [out] The geometry data containing the placements of the collision objects. See oMg field in GeometryData.

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