Namespaces | Functions
crba.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
#include "pinocchio/algorithm/crba.hxx"
Include dependency graph for crba.hpp:

Go to the source code of this file.

Namespaces

 pinocchio
 Main pinocchio namespace.
 

Functions

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & pinocchio::crba (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M. More...
 
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & pinocchio::crbaMinimal (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
 Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). The result is accessible through data.M. More...
 
 pinocchio::PINOCCHIO_DEFINE_ALGO_CHECKER (CRBA)
 


pinocchio
Author(s):
autogenerated on Tue Jun 1 2021 02:45:05