Template Function pinocchio::getFrameJacobianTimeVariation

• Defined in File frames.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xLike>
void pinocchio::getFrameJacobianTimeVariation(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6xLike> &dJ)

Computes the Jacobian time variation of a specific frame (given by frame_id) expressed either in the LOCAL frame.

Note

This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.

Template Parameters:

• JointCollection – Collection of Joint types.

• Matrix6xLike – Type of the matrix containing the joint Jacobian.

Parameters:

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

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

• frameId – [in] The index of the frame.

• dJ – [out] A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill dJ with zero elements, e.g. dJ.fill(0.).