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

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, typename ForceDerived>
inline const DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType &pinocchio::aba(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> &tau, const container::aligned_vector<ForceDerived> &fext)

The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given the current state and actuation of the model.

Note

This also overwrites data.f, possibly leaving it in an inconsistent state

Template Parameters:

  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

  • TangentVectorType1 – Type of the joint velocity vector.

  • TangentVectorType2 – Type of the joint torque vector.

  • ForceDerived – Type of the external forces.

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).

  • tau – [in] The joint torque vector (dim model.nv).

  • fext – [in] Vector of external forces expressed in the local frame of the joints (dim model.njoints)

Returns:

The current joint acceleration stored in data.ddq.