Template Function pinocchio::calc_aba

• Defined in File joint-basic-visitors.hpp

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl, typename Matrix6Type>
inline void pinocchio::calc_aba(const JointModelTpl<Scalar, Options, JointCollectionTpl> &jmodel, JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata, const Eigen::MatrixBase<Matrix6Type> &I, const bool update_I)

Visit a JointModelTpl and the corresponding JointDataTpl through JointCalcAbaVisitor to.

Template Parameters:

• JointCollection – Collection of Joint types.

• Matrix6Type – A matrix 6x6 like Eigen container.

Parameters:

• jmodel – [in] The corresponding JointModelVariant to the JointDataVariant we want to update

• jdata – [inout] The JointDataVariant we want to update

• I – [inout] Inertia matrix of the subtree following the jmodel in the kinematic chain as dense matrix

• update_I – [in] If I should be updated or not