Template Function pinocchio::framesForwardKinematics
Defined in File frames.hxx
Function Documentation
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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.