Template Function pinocchio::getJointVelocityDerivatives

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2>
inline void pinocchio::getJointVelocityDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix6xOut2> &v_partial_dv)

Computes the partial derivaties of the spatial velocity of a given with respect to the joint configuration and velocity. You must first call computForwardKinematicsDerivatives before calling this function.

Template Parameters:

  • JointCollection – Collection of Joint types.

  • Matrix6xOut1 – Matrix6x containing the partial derivatives with respect to the joint configuration vector.

  • Matrix6xOut2 – Matrix6x containing the partial derivatives with respect to the joint velocity vector.

Parameters:

  • model – [in] The model structure of the rigid body system.

  • data – [in] The data structure of the rigid body system.

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

  • v_partial_dq – [out] Partial derivative of the joint velociy w.r.t. \( q \).

  • v_partial_dv – [out] Partial derivative of the joint velociy w.r.t. \( \dot{q} \).