.. _exhale_function_namespacepinocchio_1a6d8969df5c4ff745ddd48d55743d544e:

Template Function pinocchio::getConstraintJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const RigidConstraintModelTpl<Scalar, Options>&, RigidConstraintDataTpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6or3Like>&)
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- Defined in :ref:`file_include_pinocchio_algorithm_contact-jacobian.hxx`


Function Documentation
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.. doxygenfunction:: pinocchio::getConstraintJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const RigidConstraintModelTpl<Scalar, Options>&, RigidConstraintDataTpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6or3Like>&)
   :project: pinocchio Doxygen Project