// Pinocchio is free software: you can redistribute it
...
...
@@ -20,14 +20,15 @@
#include"pinocchio/multibody/fwd.hpp"
#include"pinocchio/multibody/model.hpp"
#include"pinocchio/multibody/data.hpp"
namespacese3
{
///
/// \brief Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame.
/// The result is accessible through data.J.
/// The result is accessible through data.J. This function computes also the forwardKinematics of the model.
///
/// \note This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame.
/// \note This Jacobian does not correspond to any specific joint frame Jacobian. From this Jacobian, it is then possible to easily extract the Jacobian of a specific joint frame. \sa se3::getJacobian for doing this specific extraction.
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.