Template Function pinocchio::computeTotalMass(const ModelTpl<Scalar, Options, JointCollectionTpl>&)

• Defined in File center-of-mass.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline Scalar pinocchio::computeTotalMass(const ModelTpl<Scalar, Options, JointCollectionTpl> &model)

Compute the total mass of the model and return it.

Parameters:

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

Returns:

Total mass of the model.