Template Function pinocchio::stu_inertia

Function Documentation

template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
inline Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> pinocchio::stu_inertia(const JointDataTpl<Scalar, Options, JointCollectionTpl> &jdata)

Visit a JointDataTpl through JointStUInertiaVisitor to get St*I*S matrix of the inertia matrix decomposition.

Parameters:

jdata[in] The joint data to visit.

Returns:

The St*I*S matrix