Template Function pinocchio::calc_first_order(const JointModelTpl<Scalar, Options, JointCollectionTpl>&, JointDataTpl<Scalar, Options, JointCollectionTpl>&, const Blank, const Eigen::MatrixBase<TangentVectorType>&)

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename TangentVectorType>
inline void pinocchio::calc_first_order(const JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel, JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata, const Blank blank, const Eigen::MatrixBase<TangentVectorType> &v)

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one.

Template Parameters:
  • JointCollection – Collection of Joint types.

  • TangentVectorType – Type of the joint velocity vector.

Parameters:
  • jmodel[in] The corresponding JointModelVariant to the JointDataVariant we want to update

  • jdata – The JointDataVariant we want to update

  • v[in] The full model’s (in which the joint belongs to) velocity vector