Template Function pinocchio::buildMimicModel

• Defined in File model.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
void pinocchio::buildMimicModel(const ModelTpl<Scalar, Options, JointCollectionTpl> &input_model, const std::vector<JointIndex> &index_mimicked, const std::vector<JointIndex> &index_mimicking, const std::vector<Scalar> &scaling, const std::vector<Scalar> &offset, ModelTpl<Scalar, Options, JointCollectionTpl> &output_model)

Transform joints of a model into mimic joints.

Parameters:

• model – [in] the input model to take joints from.

• index_mimicked – [in] indexes of the joint to mimic

• index_mimicking – [in] indexes of the joint that will mimic

• scaling – [in] Scalings of joint velocity and configuration

• offset – [in] Offsets of joint configuration

• output_model – [out] Model with the joint mimic