operational-frames.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/jacobian.hpp"
Include dependency graph for operational-frames.hpp:

Namespaces

namespace  se3

Functions

void se3::framesForwardKinematics (const Model &model, Data &data)
 Update the position of each extra frame.
void se3::framesForwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q)
 Compute Kinematics of full model, then the position of each operational frame.
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.