Template Function pinocchio::frameBodyRegressor

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline DataTpl<Scalar, Options, JointCollectionTpl>::BodyRegressorType &pinocchio::frameBodyRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, FrameIndex frame_id)

Computes the regressor for the dynamic parameters of a rigid body attached to a given frame, puts the result in data.bodyRegressor and returns it.

This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.

The result is such that f=frameBodyRegressor(model,data,frame_id) * I.toDynamicParameters() where f is the net force acting on the body, including gravity

Parameters:
  • model[in] The model structure of the rigid body system.

  • data[in] The data structure of the rigid body system.

  • frame_id[in] The id of the frame.

Returns:

The dynamic regressor of the body.