Template Function pinocchio::computeFrameKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const FrameIndex, const ReferenceFrame, 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::computeFrameKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6xReturnType> &kinematic_regressor)

Remark

It assumes that the framesForwardKinematics(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.

• frame_id – [in] Index of the frame.

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

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