Template Function pinocchio::calc_first_order(const JointModelTpl<Scalar, Options, JointCollectionTpl>&, JointDataTpl<Scalar, Options, JointCollectionTpl>&, const Blank, const Eigen::MatrixBase<TangentVectorType>&)
Defined in File joint-basic-visitors.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename TangentVectorType>
inline void pinocchio::calc_first_order(const JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel, JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata, const Blank blank, const Eigen::MatrixBase<TangentVectorType> &v) Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one.
- Template Parameters:
JointCollection – Collection of Joint types.
TangentVectorType – Type of the joint velocity vector.
- Parameters:
jmodel – [in] The corresponding JointModelVariant to the JointDataVariant we want to update
jdata – The JointDataVariant we want to update
v – [in] The full model’s (in which the joint belongs to) velocity vector