Template Function pinocchio::getConstraintJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const RigidConstraintModelTpl<Scalar, Options>&, RigidConstraintDataTpl<Scalar, Options>&, const Eigen::MatrixBase<Matrix6Like>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6Like>
void pinocchio::getConstraintJacobian(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const RigidConstraintModelTpl<Scalar, Options> &constraint_model, RigidConstraintDataTpl<Scalar, Options> &constraint_data, const Eigen::MatrixBase<Matrix6Like> &J)

Computes the kinematic Jacobian associatied to a given constraint model.

Parameters:
  • model[in] The model structure of the rigid body system.

  • data[in] The data structure of the rigid body system.

  • constraint_model[in] Constraint model.

  • constraint_data[in] Constraint data.

  • J[out] A reference on the Jacobian matrix where the results will be stored in (dim 6 x model.nv). You must fill J with zero elements, e.g. J.fill(0.).