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

• Defined in File kinematics-derivatives.hpp

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

See also

getJointKinematicHessian.

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).