Template Function pinocchio::getConstraintsJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintDataAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator>&, const Eigen::MatrixBase<DynamicMatrixLike>&)
Defined in File contact-jacobian.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename DynamicMatrixLike, class ConstraintModelAllocator, class ConstraintDataAllocator>
void pinocchio::getConstraintsJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintDataAllocator> &constraint_model, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> &constraint_data, const Eigen::MatrixBase<DynamicMatrixLike> &J) Computes the kinematic Jacobian associatied to a given set of constraint models.
- Parameters:
model – [in] The model structure of the rigid body system.
data – [in] The data structure of the rigid body system.
constraint_models – [in] Vector of constraint models.
constraint_datas – [in] Vector of constraint data.
J – [out] A reference on the Jacobian matrix where the results will be stored in (dim nc x model.nv). You must fill J with zero elements, e.g. J.fill(0.).