.. _exhale_function_namespacepinocchio_1a593c5ac20286527cd652a257f9026aac:

Template Function pinocchio::getConstraintJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const RigidConstraintModelTpl<Scalar, Options>&, RigidConstraintDataTpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6Like>&)
===============================================================================================================================================================================================================================================================================================

- Defined in :ref:`file_include_pinocchio_algorithm_contact-jacobian.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::getConstraintJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const RigidConstraintModelTpl<Scalar, Options>&, RigidConstraintDataTpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6Like>&)
   :project: pinocchio Doxygen Project