Template Function pinocchio::computeJointKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const ReferenceFrame, const SE3Tpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6xReturnType>&)

• Defined in File regressor.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xReturnType>
void pinocchio::computeJointKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl<Scalar, Options> &placement, const Eigen::MatrixBase<Matrix6xReturnType> &kinematic_regressor)

Computes the kinematic regressor that links the joint placements variations of the whole kinematic tree to the placement variation of the frame rigidly attached to the joint and given by its placement w.r.t. to the joint frame.

Remark

It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters:

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

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

• joint_id – [in] Index of the joint.

• rf – [in] Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).

• placement – [in] Relative placement to the joint frame.

• kinematic_regressor – [out] The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.