#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
#include "pinocchio/algorithm/crba.hxx"
Go to the source code of this file.
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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...
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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...
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| pinocchio::PINOCCHIO_DEFINE_ALGO_CHECKER (CRBA) |
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