Template Function pinocchio::getVelocity

• Defined in File kinematics.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline MotionTpl<Scalar, Options> pinocchio::getVelocity(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex jointId, const ReferenceFrame rf = LOCAL)

Returns the spatial velocity of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.

Warning

Fist or second order forwardKinematics should have been called first

Parameters:

• model – [in] The kinematic model

• data – [in] Data associated to model

• jointId – [in] Id of the joint

• rf – [in] Reference frame in which the velocity is expressed.

Returns:

The spatial velocity of the joint expressed in the desired reference frame.