Template Function pinocchio::computeCentroidalMomentum(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType>&)

• Defined in File centroidal.hpp

Function Documentation

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

Computes the Centroidal momentum, a.k.a. the total momenta of the system expressed around the center of mass.

Template Parameters:

• Scalar – The scalar type.

• Options – Eigen Alignment options.

• 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 centroidal momenta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])