Implementation of Function Body

[lukas-ramlab]

I've introduced Pinocchio to our codebase, and we're amazed by the efficiency and simplicity of the library. Thanks for the great work.

A question on the code-structure: I'm looking how the computeJointJacobians algorithm is defined. But when looking in the jacobian.cpp, I can only find the header / template of the function. Where is the actual algorithm defined?

https://github.com/stack-of-tasks/pinocchio/blob/master/src/algorithm/jacobian.cpp

[lukas-ramlab]

Just found it myself, seems to be in the *.hxx file.
https://github.com/stack-of-tasks/pinocchio/blob/42306ed023b301aafef91e2e76cb070c5e9c3f7d/include/pinocchio/algorithm/jacobian.hxx