.. _exhale_function_namespacepinocchio_1a856e5d9a0ced7282d615c57d7962eaad:

Template Function pinocchio::ccrba
==================================

- Defined in :ref:`file_include_pinocchio_algorithm_centroidal.hpp`


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


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