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

Function Documentation

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

Computes all the terms required to compute the second order derivatives of the placement information, also know as the kinematic Hessian.

Remark

This function is also related to

Template Parameters:
  • Scalar – Scalar type of the kinematic model.

  • Options – Alignement options of the kinematic model.

  • 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.

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