Template Function pinocchio::getFrameVelocity(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const SE3Tpl<Scalar, Options>&, const ReferenceFrame)
Defined in File frames.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline MotionTpl<Scalar, Options> pinocchio::getFrameVelocity(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex joint_id, const SE3Tpl<Scalar, Options> &placement, const ReferenceFrame rf = LOCAL) Returns the spatial velocity of the Frame expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement and velocity values in data structure.
Warning
Fist or second order forwardKinematics should have been called first
- Parameters:
model – [in] The kinematic model
data – [in] Data associated to model
joint_id – [in] Id of the parent joint
placement – [in] frame placement with respect to the parent joint
rf – [in] Reference frame in which the velocity is expressed.
- Returns:
The spatial velocity of the Frame expressed in the desired reference frame.