#include "pinocchio/multibody/model.hpp"#include "pinocchio/multibody/data.hpp"#include "pinocchio/algorithm/center-of-mass-derivatives.hxx"
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Namespaces | |
| pinocchio | |
| Main pinocchio namespace. | |
Functions | |
| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename Matrix3xOut > | |
| void | pinocchio::getCenterOfMassVelocityDerivatives (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq) |
| Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration q. You must first call computeAllTerms(model,data,q,v) or computeCenterOfMass(model,data,q,v) before calling this function. More... | |