Template Function pinocchio::frameBodyRegressor

• Defined in File regressor.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline DataTpl<Scalar, Options, JointCollectionTpl>::BodyRegressorType &pinocchio::frameBodyRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, FrameIndex frameId)

Computes the regressor for the dynamic parameters of a rigid body attached to a given frame, puts the result in data.bodyRegressor and returns it.

This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.

The result is such that \( f = \text{frameBodyRegressor(model,data,frameId) * I.toDynamicParameters()} \) where \( f \) is the net force acting on the body, including gravity

Parameters:

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

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

• frameId – [in] The id of the frame.

Returns:

The dynamic regressor of the body.