Template Function pinocchio::buildReducedModel(const ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<JointIndex>, const Eigen::MatrixBase<ConfigVectorType>&, ModelTpl<Scalar, Options, JointCollectionTpl>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
void pinocchio::buildReducedModel(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, std::vector<JointIndex> list_of_joints_to_lock, const Eigen::MatrixBase<ConfigVectorType> &reference_configuration, ModelTpl<Scalar, Options, JointCollectionTpl> &reduced_model)

Build a reduced model from a given input model and a list of joint to lock.

Todo:

At the moment, the joint and geometry order is kept while the frames are re-ordered in a hard to predict way. Their order could be kept.

Remark

All the joints that have been set to be fixed in the new reduced_model now appear in the kinematic tree as a Frame as FIXED_JOINT.

Parameters:

  • model – [in] the input model to reduce.

  • list_of_joints_to_lock – [in] list of joints to lock in the input model.

  • reference_configuration – [in] reference configuration.

  • reduced_model – [out] the reduced model.