run_rnea.cpp

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#include <pinocchio/multibody/sample-models.hpp>
#include <pinocchio/algorithm/rnea.hpp>
#include <pinocchio/algorithm/joint-configuration.hpp>
 
#include <iostream>
 
int main(int /*argc*/, char ** /*argv*/)
{
  using namespace pinocchio;
 
  Model model;
  pinocchio::buildModels::humanoid(model);
 
  Model::VectorXs q = randomConfiguration(model);
  Model::VectorXs v = Model::VectorXs::Random(model.nv);
  Model::VectorXs a = Model::VectorXs::Random(model.nv);
 
  Data data(model);
  rnea(model, data, q, v, a);
 
  return 0;
}