.. _exhale_function_namespacepinocchio_1a26fd9e9e82e8504745ab8c622be89806:

Template Function pinocchio::calc_aba
=====================================

- Defined in :ref:`file_include_pinocchio_multibody_joint_joint-basic-visitors.hpp`


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


.. doxygenfunction:: pinocchio::calc_aba(const JointModelTpl<Scalar, Options, JointCollectionTpl>&, JointDataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<VectorLike>&, const Eigen::MatrixBase<Matrix6Type>&, const bool)
   :project: pinocchio Doxygen Project