1 #include "pinocchio/parsers/sample-models.hpp" 3 #include "pinocchio/algorithm/joint-configuration.hpp" 4 #include "pinocchio/algorithm/aba.hpp" 8 int main(
int ,
char ** )
24 aba(model, data, q, v, tau);
27 std::cout <<
"Joint acceleration: " << data.
ddq << std::endl;
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
const DataTpl< Scalar, Options, JointCollectionTpl >::TangentVectorType & aba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType1 > &v, const Eigen::MatrixBase< TangentVectorType2 > &tau)
The Articulated-Body algorithm. It computes the forward dynamics, aka the joint accelerations given t...
void randomConfiguration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
Generate a configuration vector uniformly sampled among provided limits.
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > & q
TangentVectorType ddq
The joint accelerations computed from ABA.
Main pinocchio namespace.
int nv
Dimension of the velocity vector space.
void humanoidRandom(ModelTpl< Scalar, Options, JointCollectionTpl > &model, bool usingFF=true)
Create a humanoid kinematic tree with 6-DOF limbs and random joint placements.
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > VectorXd
JointCollectionTpl & model