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

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> 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)

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 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.

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.