Template Function pinocchio::getJacobianComFromCrba

• Defined in File center-of-mass.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix3x &pinocchio::getJacobianComFromCrba(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data)

Extracts both the jacobian of the center of mass (CoM), the total mass of the system and the CoM position from the joint space inertia matrix (also called the mass matrix). The results are accessible through data.Jcom, data.mass[0] and data.com[0] and are both expressed in the world frame.

Remark

This extraction of inertial quantities is only valid for free-floating base systems.

Template Parameters:

JointCollection – Collection of Joint types.

Parameters:

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

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

Returns:

The jacobian of the CoM expressed in the world frame (matrix 3 x model.nv).