.. _exhale_function_namespacepinocchio_1a97be7e9cd332a591b1431e30bab2c51e:

Template Function pinocchio::forwardKinematics(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&)
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- Defined in :ref:`file_include_pinocchio_algorithm_kinematics.hxx`


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


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