run_fk.cpp

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#include "pinocchio/multibody/sample-models.hpp"
 
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/aba.hpp"
 
#include <iostream>
 
int main(int /*argc*/, char ** /*argv*/)
{
  using namespace pinocchio;
 
  pinocchio::Model model;
  pinocchio::buildModels::humanoidRandom(model);
 
  // Build data related to model
  Data data(model);
 
  // Sample a random joint configuration as well as random joint velocity and torque
  Eigen::VectorXd q = randomConfiguration(model);
  Eigen::VectorXd v = Eigen::VectorXd::Random(model.nv);
  Eigen::VectorXd tau = Eigen::VectorXd::Random(model.nv);
 
  // Computes the forward dynamics (ABA)
  aba(model, data, q, v, tau, Convention::WORLD);
 
  // Get access to the joint acceleration
  std::cout << "Joint acceleration: " << data.ddq << std::endl;
  return 0;
}