Template Function pinocchio::getConstraintJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const RigidConstraintModelTpl<Scalar, Options>&, RigidConstraintDataTpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6or3Like>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6or3Like>
void pinocchio::getConstraintJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const RigidConstraintModelTpl<Scalar, Options> &constraint_model, RigidConstraintDataTpl<Scalar, Options> &constraint_data, const Eigen::MatrixBase<Matrix6or3Like> &J_)