Template Function pinocchio::getConstraintsJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator>&, const Eigen::MatrixBase<DynamicMatrixLike>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename DynamicMatrixLike, class ConstraintModelAllocator, class ConstraintDataAllocator>
void pinocchio::getConstraintsJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator> &constraint_models, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator> &constraint_datas, const Eigen::MatrixBase<DynamicMatrixLike> &J_)