.. _exhale_function_namespacepinocchio_1ab48efbd527d1bc9941da1a5f400e751a:

Template Function pinocchio::crba
=================================

- Defined in :ref:`file_include_pinocchio_algorithm_crba.hpp`


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


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