.. _exhale_function_namespacepinocchio_1ae9590bd272dbc6280208b944fece5a3a:

Template Function pinocchio::getRelativePlacement
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- Defined in :ref:`file_include_pinocchio_algorithm_kinematics.hxx`


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


.. doxygenfunction:: pinocchio::getRelativePlacement(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const JointIndex, const Convention)
   :project: pinocchio Doxygen Project