Template Function pinocchio::computeCoriolisMatrix

Function Documentation

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

Computes the Coriolis Matrix \( C(q,\dot{q}) \) of the Lagrangian dynamics:

Note

In the previous equation, \( c(q, \dot{q}) = C(q, \dot{q})\dot{q} \).

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 Coriolis matrix stored in data.C.