.. _exhale_function_namespacepinocchio_1aa2d00d1ff00f42048eb2b59b1275a0a0:

Template Function pinocchio::computeCentroidalMomentum(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&)
===========================================================================================================================================================

- Defined in :ref:`file_include_pinocchio_algorithm_centroidal.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::computeCentroidalMomentum(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&)
   :project: pinocchio Doxygen Project