.. _exhale_function_namespacepinocchio_1ae3b8c1490b1a20754a1cbd237b1c51db:

Template Function pinocchio::jacobianSubtreeCenterOfMass(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex&, const Eigen::MatrixBase<Matrix3xLike>&)
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- Defined in :ref:`file_include_pinocchio_algorithm_center-of-mass.hpp`


Function Documentation
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.. doxygenfunction:: pinocchio::jacobianSubtreeCenterOfMass(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex&, const Eigen::MatrixBase<Matrix3xLike>&)
   :project: pinocchio Doxygen Project