#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
Namespaces |
namespace | se3 |
Functions |
void | se3::framesForwardKinematics (const Model &model, Data &data) |
| Update the position of each extra frame.
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void | se3::framesForwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q) |
| Compute Kinematics of full model, then the position of each operational frame.
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template<bool localFrame> |
void | se3::getFrameJacobian (const Model &model, const Data &data, const Model::FrameIndex frame_id, Data::Matrix6x &J) |
| Return the jacobian of the operational frame in the world frame or in the local frame depending on the template argument.
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