Template Function pinocchio::computePotentialEnergyRegressor
Defined in File regressor.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
const DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs &pinocchio::computePotentialEnergyRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q) \brief Computes the kinetic energy regressor that links the kinetic energy of the system to the dynamic parameters of each link according to the current robot motion. The result is stored in `data.kineticEnergyRegressor` and it corresponds to a matrix \f$ Y_e \f$ such that \f$ K = Y_e(q,\dot{q})\pi \f$ where \pi_i = \text{model.inertias[i].toDynamicParameters()} \f$ \tparam JointCollection Collection of Joint types. \tparam ConfigVectorType Type of the joint configuration vector. \tparam TangentVectorType Type of the joint velocity vector. \param[in] model The model structure of the rigid body system. \param[in] data The data structure of the rigid body system. \param[in] q The joint configuration vector (dim model.nq). \param[in] v The joint velocity vector (dim model.nv). \return The kinetic energy regressor of the system.
template< typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType> const typename DataTpl<Scalar, Options, JointCollectionTpl>::RowVectorXs & computeKineticEnergyRegressor(
const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
DataTpl<Scalar, Options, JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v);
\brief Computes the potential energy regressor that links the potential energy of the system to the dynamic parameters of each link according to the current robot motion. The result is stored in `data.potentialEnergyRegressor` and it corresponds to a matrix \f$ Y_p \f$ such that \f$ P = Y_p(q)\pi \f$ where \pi_i = \text{model.inertias[i].toDynamicParameters()} \f$ \tparam JointCollection Collection of Joint types. \tparam ConfigVectorType Type of the joint configuration vector. \param[in] model The model structure of the rigid body system. \param[in] data The data structure of the rigid body system. \param[in] q The joint configuration vector (dim model.nq). \return The kinetic energy regressor of the system.