Template Function pinocchio::frameBodyRegressor
Defined in File regressor.hxx
Function Documentation
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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
where 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.