Template Function pinocchio::getRelativePlacement

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
SE3Tpl<Scalar, Options> pinocchio::getRelativePlacement(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex jointIdRef, const JointIndex jointIdTarget, const Convention convention = Convention::LOCAL)

Returns the relative placement of two joints expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement values in data structure. LOCAL convention should only be used when aba and crba algorithms are called in LOCAL convention as well.

Note

WORLD convention complexity is in O(1) and LOCAL is in O(n).

Parameters:

  • model – [in] The kinematic model

  • data – [in] Data associated to model

  • jointId – [in] Id of the reference joint

  • jointId – [in] Id of the target joint

  • convention – [in] Convention to use (computation is done using data.liMi if LOCAL, and data.oMi if WORLD).

Returns:

The relative placement of the target joint wrt to the refence joint, expressed in the desired reference frame.