Template Function pinocchio::getCenterOfMassVelocityDerivatives

• Defined in File center-of-mass-derivatives.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xOut>
inline void pinocchio::getCenterOfMassVelocityDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<Matrix3xOut> &vcom_partial_dq)

Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration q. You must first call computeAllTerms(model,data,q,v) or computeCenterOfMass(model,data,q,v) before calling this function.

Template Parameters:

• JointCollection – Collection of Joint types.

• Matrix3xOut – Matrix3x containing the partial derivatives of the CoM velocity with respect to 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.

• v_partial_dq – [out] Partial derivative of the CoM velocity w.r.t. \( q \).