Template Function pinocchio::transformJointIntoMimic

• Defined in File model.hxx

Function Documentation

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

Transform of a joint of the model into a mimic joint. Keep the type of the joint as it was previously.

Parameters:

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

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

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

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

• offset – [in] Offset of joint configuration

• output_model – [out] Model with the joint mimic