Template Function pinocchio::getFrameJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const FrameIndex, const ReferenceFrame)
Defined in File frames.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::getFrameJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const FrameIndex frame_id, const ReferenceFrame reference_frame) Returns the jacobian of the frame expressed either expressed in the local frame coordinate system, in the local world aligned frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians.
Remark
Similarly to pinocchio::getJointJacobian:
if rf == LOCAL, this function returns the Jacobian of the frame expressed in the local coordinate system of the frame
if rf == LOCAL_WORLD_ALIGNED, this function returns the Jacobian of the frame centered on the frame origin and expressed in a coordinate system aligned with the WORLD.
if rf == WORLD, this function returns the Jacobian of the frame expressed at the point coincident with the origin and expressed in a coordinate system aligned with the WORLD.
Warning
The function pinocchio::computeJointJacobians should have been called first.
- Template Parameters:
JointCollection – Collection of Joint types.
- Parameters:
model – [in] The kinematic model
data – [in] Data associated to model
frame_id – [in] Index of the frame
reference_frame – [in] Reference frame in which the Jacobian is expressed.