.. _exhale_function_namespacepinocchio_1acb6a08d14e61f697556f92cffdc721de:

Template Function pinocchio::findCommonAncestor
===============================================

- Defined in :ref:`file_include_pinocchio_algorithm_model.hxx`


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


.. doxygenfunction:: pinocchio::findCommonAncestor(const ModelTpl<Scalar, Options, JointCollectionTpl>&, JointIndex, JointIndex, size_t&, size_t&)
   :project: pinocchio Doxygen Project