Template Function pinocchio::computeCentroidalMomentumTimeVariation(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType1>&, const Eigen::MatrixBase<TangentVectorType2>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
inline const DataTpl<Scalar, Options, JointCollectionTpl>::Force &pinocchio::computeCentroidalMomentumTimeVariation(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType1> &v, const Eigen::MatrixBase<TangentVectorType2> &a)

Computes the Centroidal momemtum and its time derivatives, a.k.a. the total momenta of the system and its time derivative expressed around the center of mass.

Template Parameters:

  • Scalar – The scalar type.

  • Options – Eigen Alignment options.

  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

  • TangentVectorType1 – Type of the joint velocity vector.

  • TangentVectorType2 – Type of the joint acceleration 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).

  • a – [in] The joint acceleration vector (dim model.nv).

Returns:

The centroidal momenta time derivative (stored in data.dhg), centroidal momemta (stored in data.hg), center of mass (stored in data.com[0]) and velocity of center of mass (stored in data.vcom[0])