Template Function pinocchio::getCentroidalDynamicsDerivatives
Defined in File centroidal-derivatives.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xLike0, typename Matrix6xLike1, typename Matrix6xLike2, typename Matrix6xLike3>
void pinocchio::getCentroidalDynamicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<Matrix6xLike1> &dh_dq, const Eigen::MatrixBase<Matrix6xLike1> &dhdot_dq, const Eigen::MatrixBase<Matrix6xLike2> &dhdot_dv, const Eigen::MatrixBase<Matrix6xLike3> &dhdot_da) Retrive the analytical derivatives of the centroidal dynamics from the RNEA derivatives. pinocchio::computeRNEADerivatives should have been called first.
Computes the first order approximation of the centroidal dynamics time derivative and corresponds to the following equation
- Parameters:
model – [in] The model structure of the rigid body system.
data – [in] The data structure of the rigid body system.
dh_dq – [out] The partial derivative of the centroidal momentum with respect to the configuration vector (dim 6 x model.nv). ///
dhdot_dq – [out] The partial derivative of the centroidal dynamics with respect to the configuration vector (dim 6 x model.nv).
dhdot_dv – [out] The partial derivative of the centroidal dynamics with respect to the velocity vector (dim 6 x model.nv).
dhdot_da – [out] The partial derivative of the centroidal dynamics with respect to the acceleration vector (dim 6 x model.nv).
- Returns:
It also computes the current centroidal dynamics and its time derivative. For information, the centroidal momentum matrix is equivalent to dhdot_da.