Template Function pinocchio::getJacobianSubtreeCenterOfMass

• Defined in File center-of-mass.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xLike>
inline void pinocchio::getJacobianSubtreeCenterOfMass(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex &rootSubtreeId, const Eigen::MatrixBase<Matrix3xLike> &res)

Retrieves the Jacobian of the center of mass of the given subtree according to the current value stored in data. It assumes that pinocchio::jacobianCenterOfMass has been called first with computeSubtreeComs equals to true.

Template Parameters:

• JointCollection – Collection of Joint types.

• Matrix3xLike – Type of the output Jacobian matrix.

Parameters:

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

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

• rootSubtreeId – [in] Index of the parent joint supporting the subtree.

• res – [out] The Jacobian matrix where the results will be stored in (dim 3 x model.nv). You must first fill J with zero elements, e.g. J.setZero().