.. _exhale_function_namespacepinocchio_1afbe370c7f1a8f5bb85948b758af45092:

Template Function pinocchio::getJacobianSubtreeCenterOfMass
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- Defined in :ref:`file_include_pinocchio_algorithm_center-of-mass.hpp`


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


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