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

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.