Template Function pinocchio::findGreatestCommonAncestor
Defined in File delassus.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
JointIndex pinocchio::findGreatestCommonAncestor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, JointIndex joint1_id, JointIndex joint2_id, size_t &index_ancestor_in_support1, size_t &index_ancestor_in_support2)