Template Function pinocchio::nonLinearEffects

Function Documentation

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

Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the bias terms \( b(q,\dot{q}) \) of the Lagrangian dynamics:

Note

This function is equivalent to pinocchio::rnea(model, data, q, v, 0).

Template Parameters:

  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

  • TangentVectorType – Type of the joint velocity 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).

  • v – [in] The joint velocity vector (dim model.nv).

Returns:

The bias terms stored in data.nle.