Template Function pinocchio::getComFromCrba

• Defined in File center-of-mass.hpp

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline const DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 &pinocchio::getComFromCrba(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data)

Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix).

Template Parameters:

• JointCollection – Collection of Joint types.

• Matrix3xLike – Type of the output Jacobian matrix.

Parameters:

• model – [in] The model structure of the rigid body system.

• data – [in] The data structure of the rigid body system.

Returns:

The center of mass position of the rigid body system expressed in the world frame (vector 3).