.. _exhale_function_namespacepinocchio_1a3f1eb0ed5d11c826992c8ff058bf1dcf:

Template Function pinocchio::id
===============================

- Defined in :ref:`file_include_pinocchio_multibody_joint_joint-basic-visitors.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::id(const JointModelTpl<Scalar, Options, JointCollectionTpl>&)
   :project: pinocchio Doxygen Project