.. _exhale_function_namespacepinocchio_1a8a36722d8064006ae2e31d0b61aa4219:

Template Function pinocchio::computeJointJacobian
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- Defined in :ref:`file_include_pinocchio_algorithm_jacobian.hpp`


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


.. doxygenfunction:: pinocchio::computeJointJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const JointIndex, const Eigen::MatrixBase<Matrix6Like>&)
   :project: pinocchio Doxygen Project