Template Function pinocchio::jacobian
Defined in File constraint-model-visitor.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, template<typename S, int O> class ConstraintCollectionTpl, typename JacobianMatrix>
void pinocchio::jacobian(const ConstraintModelTpl<Scalar, Options, ConstraintCollectionTpl> &cmodel, ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> &cdata, const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<JacobianMatrix> &jacobian_matrix)