Template Function pinocchio::computeStaticTorque

Function Documentation

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

Computes the generalized static torque contribution \( g(q) - \sum J(q)^{\top} f_{\text{ext}} \) of the Lagrangian dynamics:

. This torque vector accouts for the contribution of the gravity and the external forces.

Note

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

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).

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

Returns:

The generalized static torque stored in data.tau.