Template Function pinocchio::findCommonAncestor
Defined in File model.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
JointIndex pinocchio::findCommonAncestor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, JointIndex joint1_id, JointIndex joint2_id, size_t &index_ancestor_in_support1, size_t &index_ancestor_in_support2) Computes the common ancestor between two joints belonging to the same kinematic tree.
- Parameters:
model – [in] the input model.
joint1_id – [in] index of the first joint.
joint2_id – [in] index of the second joint.
index_ancestor_in_support1 – [out] index of the ancestor within model.support[joint1_id].
index_ancestor_in_support2 – [out] index of the ancestor within model.support[joint2_id].