inline void forwardKinematics(Transformation_t & M, const Eigen::MatrixBase<ConfigVector> & q_joint) const { const Scalar & c_theta = q_joint(2), & s_theta = q_joint(3); M.rotation().template topLeftCorner<2,2>() << c_theta, -s_theta, s_theta, c_theta; M.translation().template head<2>() = q_joint.template head<2>(); }
JointDataPrismatic() : M(1) // Etat initial de la liaison ? { M.rotation(SE3::Matrix3::Identity()); }