Template Function pinocchio::applyConstraintOnForceVisitor

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<int Op, typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ForceType, typename ExpressionType>
void pinocchio::applyConstraintOnForceVisitor(JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata, ForceType F, ExpressionType R)

Apply joint constraint (motion subspace) on a force.

Template Parameters:

• Op – AssignmentOperatorType.

• Scalar – Type of scaling and offset scalars.

• Options. –

• JointCollectionTpl – Collection of Joint types.

• ForceType – Type of the force to transform.

• ExpressionType – Eigen expression used to store the result.

Parameters:

• jdata – Joint data to extract the motion subspace (S).

• F – Force applied on the motion subspace.

• R – Eigen expression to store the result.