Template Function pinocchio::copy

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline void pinocchio::copy(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &origin, DataTpl<Scalar, Options, JointCollectionTpl> &dest, KinematicLevel kinematic_level)

Copy part of the data from origin to dest. Template parameter can be used to select at which differential level the copy should occur.

Template Parameters:

JointCollection – Collection of Joint types.

Parameters:
  • model[in] The model structure of the rigid body system.

  • orig[in] Data from which the values are copied.

  • dest[out] Data to which the values are copied

  • kinematic_level[in] if =0, copy oMi. If =1, also copy v. If =2, also copy a, a_gf and f.