Template Function pinocchio::findCommonAncestor

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
JointIndex pinocchio::findCommonAncestor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, JointIndex joint1_id, JointIndex joint2_id, size_t &index_ancestor_in_support1, size_t &index_ancestor_in_support2)

Computes the common ancestor between two joints belonging to the same kinematic tree.

Parameters:
  • model[in] the input model.

  • joint1_id[in] index of the first joint.

  • joint2_id[in] index of the second joint.

  • index_ancestor_in_support1[out] index of the ancestor within model.support[joint1_id].

  • index_ancestor_in_support2[out] index of the ancestor within model.support[joint2_id].