Template Function pinocchio::u_inertia

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline Eigen::Matrix<Scalar, 6, Eigen::Dynamic, Options> pinocchio::u_inertia(const JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata)

Visit a JointDataTpl through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition.

Parameters:

jdata – [in] The joint data to visit.

Returns:

The U matrix of the inertia matrix decomposition