Template Function pinocchio::computeJointKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const ReferenceFrame, const SE3Tpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6xReturnType>&)

• Defined in File regressor.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xReturnType>
void pinocchio::computeJointKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex joint_id, const ReferenceFrame rf, const SE3Tpl<Scalar, Options> &placement, const Eigen::MatrixBase<Matrix6xReturnType> &kinematic_regressor)

Remark

It assumes that the forwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters:

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

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

• joint_id – [in] Index of the joint.

• rf – [in] Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).

• placement – [in] Relative placement to the joint frame.

• kinematic_regressor – [out] The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.