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

• Defined in File model.hxx

Function Documentation

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

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

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_geom_models – [in] the input geometry model to reduce (example: visual_model, collision_model).

• 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.

• list_of_reduced_geom_model – [out] the list of reduced geometry models.