.. _exhale_function_namespacepinocchio_1a2d29d7a4c5e16119fe6ca4070cfdbc44:

Template Function pinocchio::dccrba
===================================

- Defined in :ref:`file_include_pinocchio_algorithm_centroidal.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::dccrba(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType>&)
   :project: pinocchio Doxygen Project