Template Function pinocchio::computeStaticTorqueDerivatives

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType>
inline void pinocchio::computeStaticTorqueDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const container::aligned_vector<ForceTpl<Scalar, Options>> &fext, const Eigen::MatrixBase<ReturnMatrixType> &static_torque_partial_dq)

Computes the partial derivative of the generalized gravity and external forces contributions (a.k.a static torque vector) with respect to the joint configuration.

Remark

gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero).

See also

pinocchio::computeGeneralizedTorque

Template Parameters:

  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

  • ReturnMatrixType – Type of the matrix containing the partial derivative of the gravity vector with respect to 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).

  • fext – [in] External forces expressed in the local frame of the joints (dim model.njoints).

  • static_torque_partial_dq – [out] Partial derivative of the static torque vector with respect to the joint configuration.