Template Function pinocchio::getFrameJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const SE3Tpl<Scalar, Options>&, const ReferenceFrame, const Eigen::MatrixBase<Matrix6xLike>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xLike>
inline void pinocchio::getFrameJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex joint_id, const SE3Tpl<Scalar, Options> &placement, const ReferenceFrame reference_frame, const Eigen::MatrixBase<Matrix6xLike> &J)

Returns the jacobian of the frame given by its relative placement w.r.t. a joint frame, and whose columns are either expressed in the LOCAL frame coordinate system, in the local world aligned (rf = LOCAL_WORLD_ALIGNED) frame or in the WORLD coordinate system, depending on the value of reference_frame. You must first call pinocchio::computeJointJacobians.

Remark

Similarly to pinocchio::getJointJacobian:

  • if rf == LOCAL, this function returns the Jacobian of the frame expressed in the local coordinate system of the frame

  • if rf == LOCAL_WORLD_ALIGNED, this function returns the Jacobian of the frame centered on the frame origin and expressed in a coordinate system aligned with the WORLD.

  • if rf == WORLD, this function returns the Jacobian of the frame expressed at the point coincident with the origin and expressed in a coordinate system aligned with the WORLD.

Warning

The function pinocchio::computeJointJacobians should have been called first.

Template Parameters:
  • JointCollection – Collection of Joint types.

  • Matrix6xLike – Type of the matrix containing the joint Jacobian.

Parameters:
  • model[in] The kinematic model

  • data[in] Data associated to model

  • joint_id[in] Index of the joint.

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

  • J[out] The Jacobian of the Frame expressed in the reference_frame coordinate system.