Template Function pinocchio::copy
Defined in File copy.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline void pinocchio::copy(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &origin, DataTpl<Scalar, Options, JointCollectionTpl> &dest, KinematicLevel kinematic_level) Copy part of the data from
origin
todest
. Template parameter can be used to select at which differential level the copy should occur.- Template Parameters:
JointCollection – Collection of Joint types.
- Parameters:
model – [in] The model structure of the rigid body system.
orig – [in] Data from which the values are copied.
dest – [out] Data to which the values are copied
kinematic_level – [in] if =0, copy oMi. If =1, also copy v. If =2, also copy a, a_gf and f.