Template Function pinocchio::configVectorAffineTransform

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename ConfigVectorIn, typename ConfigVectorOut>
void pinocchio::configVectorAffineTransform(const JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel, const Eigen::MatrixBase<ConfigVectorIn> &qIn, const Scalar &scaling, const Scalar &offset, const Eigen::MatrixBase<ConfigVectorOut> &qOut)

Apply the correct affine transform, on a joint configuration, depending on the joint type.

Template Parameters:

• Scalar – Type of scaling and offset scalars.

• Options –

• JointCollectionTpl – Collection of Joint types

• ConfigVectorIn – Type of the input joint configuration vector.

• ConfigVectorOut – Type of the ouptut joint configuration vector.

Parameters:

• jmodel – Joint variant to determine the correct affine transform to use.

• qIn – Input configuration vector

• scaling – scaling factor

• offset – Offset value

• qOut – Ouptut joint configuration vector