Template Function pinocchio::computeJointJacobians(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&)

• Defined in File jacobian.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &pinocchio::computeJointJacobians(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data)

Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame. The result is accessible through data.J. This function assumes that pinocchio::forwardKinematics has been called before.

See also

pinocchio::getJointJacobian for doing this specific extraction.

Note

This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame.

Template Parameters:

JointCollection – Collection of Joint types.

Parameters:

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

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

Returns:

The full model Jacobian (matrix 6 x model.nv).