Template Function pinocchio::stu_inertia
Defined in File joint-basic-visitors.hpp
Function Documentation
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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