pinocchio: crba.cpp Source File

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 //
 // Copyright (c) 2022 INRIA
 //
  
 #include "pinocchio/algorithm/crba.hpp"
  
 namespace pinocchio
 {
   template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI const context::MatrixXs & crba<
     context::Scalar,
     context::Options,
     JointCollectionDefaultTpl,
     Eigen::Ref<const context::VectorXs>>(
     const context::Model &,
     context::Data &,
     const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
     const Convention convention);
 } // namespace pinocchio

pinocchio::crba

const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & crba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Convention convention=Convention::LOCAL)

Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid B...