Template Function pinocchio::getCoriolisMatrix

• Defined in File rnea.hpp

Function Documentation

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

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

after a call to the dynamics derivatives.

Note

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

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 Coriolis matrix stored in data.C.