Template Function pinocchio::getJointJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const ReferenceFrame)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::getJointJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex joint_id, const ReferenceFrame reference_frame)

Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame, 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.J. You have to run pinocchio::computeJointJacobians before calling it.

Template Parameters:

JointCollection – Collection of Joint types.

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 index of the joint.

  • reference_frame[in] Reference frame in which the result is expressed.