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>&)

Function Documentation

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.).