Template Function pinocchio::getFrameVelocityDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const SE3Tpl<Scalar, Options>&, const ReferenceFrame, const Eigen::MatrixBase<Matrix6xOut1>&, const Eigen::MatrixBase<Matrix6xOut2>&)
Defined in File frames-derivatives.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2>
void pinocchio::getFrameVelocityDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex joint_id, const SE3Tpl<Scalar, Options> &placement, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix6xOut2> &v_partial_dv) Computes the partial derivatives of the spatial velocity of a frame given by its relative placement, with respect to q and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities.
- Template Parameters:
JointCollection – Collection of Joint types.
Matrix6xOut1 – Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
Matrix6xOut2 – Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint velocity vector.
- Parameters:
model – [in] The kinematic model
data – [in] Data associated to model
joint_id – [in] Index of the supporting joint
placement – [in] Placement of the Frame w.r.t. the joint frame.
rf – [in] Reference frame in which the velocity is expressed.
v_partial_dq – [out] Partial derivative of the frame spatial velocity w.r.t.
.v_partial_dv – [out] Partial derivative of the frame spatial velociy w.r.t.
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