Function pinocchio::internal::computeJointVel

Function Documentation

void pinocchio::internal::computeJointVel(const Eigen::VectorXd &res1, const Eigen::VectorXd &res2, const Eigen::VectorXi &comb, Eigen::VectorXd &qv)

Computes the joint configuration associated with the permutation results stored in res1 and res2.

Parameters:
  • res1[in] First permutation result

  • res2[in] Second permutation result

  • comb[in] Vector of active joints in this configuration

  • qv[out] Joint Velocity result