kinematics.hpp File Reference
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
Include dependency graph for kinematics.hpp:

Classes

struct  se3::emptyForwardStep
struct  se3::ForwardKinematicZeroStep
struct  se3::ForwardKinematicFirstStep
struct  se3::ForwardKinematicSecondStep

Namespaces

namespace  se3

Functions

void se3::emptyForwardPass (const Model &model, Data &data)
 Browse through the model tree structure with an empty step.
void se3::forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q)
void se3::forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
void se3::forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)