Template Function pinocchio::updateGlobalPlacements

• Defined in File kinematics.hxx

Function Documentation

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

Update the global placement of the joints oMi according to the relative placements of the joints.

Remark

This algorithm may be useful to call to update global joint placement after calling pinocchio::rnea, pinocchio::aba, etc for example.

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.