Template Function pinocchio::getJointJacobianTimeVariation
Defined in File jacobian.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6Like>
void pinocchio::getJointJacobianTimeVariation(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex joint_id, const ReferenceFrame reference_frame, const Eigen::MatrixBase<Matrix6Like> &dJ) Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD), in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the local frame (rf = LOCAL) of the joint.
Note
This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.
- Template Parameters:
JointCollection – Collection of Joint types.
Matrix6xLike – Type of the matrix containing the joint Jacobian.
- Parameters:
model – [in] The model structure of the rigid body system.
data – [in] The data structure of the rigid body system.
joint_id – [in] The id of the joint.
reference_frame – [in] Reference frame in which the result is expressed.
dJ – [out] A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill dJ with zero elements, e.g. dJ.fill(0.).