Template Struct PerformStYSInversion

• Defined in File joint-common-operations.hpp

Struct Documentation

template<typename Scalar, bool is_floating_point = pinocchio::is_floating_point<Scalar>::value>
struct PerformStYSInversion

Operation called in JointModelBase<JointModel>::calc_aba.

Public Static Functions

template<typename M1, typename M2> static inline EIGEN_STRONG_INLINE void run (const Eigen::MatrixBase< M1 > &StYS, const Eigen::MatrixBase< M2 > &Dinv)