Template Function pinocchio::ccrba

• Defined in File centroidal.hpp

Function Documentation

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

Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta according to the current joint configuration and velocity.

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.

• 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:

The Centroidal Momentum Matrix Ag.