Template Function pinocchio::joint_transform

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline SE3Tpl<Scalar, Options> pinocchio::joint_transform(const JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata)

Visit a JointDataTpl through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint).

Parameters:

jdata – [in] The joint data to visit.

Returns:

The joint transform corresponding to the joint derived transform (sXp)