pinocchio::regressor Namespace Reference

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
PINOCCHIO_DEPRECATED DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	computeStaticRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot. More...

Function Documentation

computeStaticRegressor()

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

PINOCCHIO_DEPRECATED DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x& pinocchio::regressor::computeStaticRegressor ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q  )

inline

Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns

The static regressor of the system.

Deprecated:

This function is now in the main pinocchio namespace

Definition at line 176 of file regressor.hpp.