Template Function pinocchio::getJointJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const ReferenceFrame)
Defined in File jacobian.hpp
Function Documentation
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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.