Template Function pinocchio::computeCentroidalMap

• Defined in File centroidal.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
inline const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &pinocchio::computeCentroidalMap(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q)

Computes the Centroidal Momentum Matrix,.

Remark

As another output, this algorithm also computes the Joint Jacobian matrix (accessible via data.J).

Template Parameters:

• JointCollection – Collection of Joint types.

• ConfigVectorType – Type of the joint configuration 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).

Returns:

The Centroidal Momentum Matrix Ag.