.. _exhale_function_namespacepinocchio_1aa7e16a8500758cfb460e5e94de69dc39:

Template Function pinocchio::computeCentroidalMap
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- Defined in :ref:`file_include_pinocchio_algorithm_centroidal.hpp`


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