Template Function pinocchio::joint_v

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline JointDataTpl<Scalar, Options, JointCollectionTpl>::TangentVector_t pinocchio::joint_v(const JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata)

Visit a JointDataVariant through JointConfigVisitor to get the joint velocity vector.

Parameters:

jdata[in] The joint data to visit.

Returns:

The current value of the joint velocity vector