iDynTree/Jacobians.h file

Namespaces

namespace iDynTree

Functions

auto FreeFloatingJacobianUsingLinkPos(const Model& model, const Traversal& traversal, const JointPosDoubleArray& jointPositions, const LinkPositions& linkPositions, const LinkIndex linkIndex, const Transform& jacobFrame_X_world, const Transform& baseFrame_X_jacobBaseFrame, const MatrixView<double>& jacobian) -> bool: Compute a free floating jacobian.

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