Template Function pinocchio::framesForwardKinematics

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
inline void pinocchio::framesForwardKinematics(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q)

First calls the forwardKinematics on the model, then computes the placement of each frame. /sa pinocchio::forwardKinematics.

Template Parameters:
  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

Parameters:
  • model[in] The kinematic model.

  • data – Data associated to model.

  • q[in] Configuration vector.