Template Function pinocchio::idx_v

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline int pinocchio::idx_v(const JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel)

Visit a JointModelTpl through JointIdxVVisitor to get the index in the full model tangent space corresponding to the first joint tangent space degree.

Parameters:

jmodel – [in] The JointModelVariant

Returns:

The index in the full model tangent space corresponding to the first joint tangent space degree