KinematicLevel
List of Kinematics Level supported by Pinocchio.
@ POSITION
Refers to the quantities related to the 0-order kinematics (joint placements, center of mass position...
@ VELOCITY
Refers to the quantities related to the 1st-order kinematics (joint velocities, center of mass veloci...
void copy(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &origin, DataTpl< Scalar, Options, JointCollectionTpl > &dest, KinematicLevel kinematic_level)
Copy part of the data from origin to dest. Template parameter can be used to select at which differen...
@ ACCELERATION
Refers to the quantities related to the 2nd-order kinematics (joint accelerations,...