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>&)

Function Documentation

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. q.

  • v_partial_dv[out] Partial derivative of the frame spatial velociy w.r.t. v.