Template Function pinocchio::computeAllTerms

• Defined in File compute-all-terms.hxx

Function Documentation

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

Computes efficiently all the terms needed for dynamic simulation. It is equivalent to the call at the same time to:

• pinocchio::forwardKinematics

• pinocchio::crba

• pinocchio::nonLinearEffects

• pinocchio::computeJointJacobians

• pinocchio::centerOfMass

• pinocchio::jacobianCenterOfMass

• pinocchio::ccrba

• pinocchio::computeKineticEnergy

• pinocchio::computePotentialEnergy

• pinocchio::computeGeneralizedGravity

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:

All the results are stored in data. Please refer to the specific algorithm for further details.