Template Function pinocchio::constraint_xd

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline ConstraintTpl<Eigen::Dynamic, Scalar, Options> pinocchio::constraint_xd(const JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata)

Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint.

Parameters:

jdata – [in] The joint data to visit.

Returns:

The constraint dense corresponding to the joint derived constraint