crba.hpp
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1 //
2 // Copyright (c) 2015-2018 CNRS
3 //
4 
5 #ifndef __pinocchio_crba_hpp__
6 #define __pinocchio_crba_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/check.hpp"
11 
12 namespace pinocchio
13 {
32  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
34  crba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
35  DataTpl<Scalar,Options,JointCollectionTpl> & data,
36  const Eigen::MatrixBase<ConfigVectorType> & q);
37 
59  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
61  crbaMinimal(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
62  DataTpl<Scalar,Options,JointCollectionTpl> & data,
63  const Eigen::MatrixBase<ConfigVectorType> & q);
64 
66 
67 } // namespace pinocchio
68 
69 /* --- Details -------------------------------------------------------------------- */
70 #include "pinocchio/algorithm/crba.hxx"
71 
72 #endif // ifndef __pinocchio_crba_hpp__
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & 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 B...
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
PINOCCHIO_DEFINE_ALGO_CHECKER(ABA)
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & 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 B...
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options > MatrixXs
Main pinocchio namespace.
Definition: timings.cpp:28
JointCollectionTpl & model


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autogenerated on Fri Jun 23 2023 02:38:29