Template Function pinocchio::computeFrameKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const FrameIndex, const ReferenceFrame, const Eigen::MatrixBase<Matrix6xReturnType>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xReturnType>
void pinocchio::computeFrameKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6xReturnType> &kinematic_regressor)

Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input.

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

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

  • frame_id[in] Index of the frame.

  • rf[in] Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).

  • kinematic_regressor[out] The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.