Template Function pinocchio::computeStaticRegressor

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
inline DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x &pinocchio::computeStaticRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q)

Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot.

The result is stored in data.staticRegressor and it corresponds to a matrix \( Y \) such that \( c = Y(q,\dot{q},\ddot{q})\tilde{\pi} \) where \( \tilde{\pi} = (\tilde{\pi}_1^T\ \dots\ \tilde{\pi}_n^T)^T \) and \( \tilde{\pi}_i = \text{model.inertias[i].toDynamicParameters().head<4>()} \)

Template Parameters:

  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

Parameters:

  • model – [in] The model structure of the rigid body system.

  • data – [in] The data structure of the rigid body system.

  • q – [in] The joint configuration vector (dim model.nq).

Returns:

The static regressor of the system.