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

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 kinematic structure with a void step.
void se3::forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q)
 Update the joint placement according to the current joint configuration.
void se3::forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
 Update the joint placement according to the current joint configuration and velocity.
void se3::forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
 Update the joint placement according to the current joint configuration, velocity and acceleration.