.. _exhale_function_namespacepinocchio_1ae8a02fc4b14ad07bfe1225470fd3cfab:

Template Function pinocchio::computeDelassusMatrix
==================================================

- Defined in :ref:`file_include_pinocchio_algorithm_delassus.hxx`


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


.. doxygenfunction:: pinocchio::computeDelassusMatrix(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator>&, const Eigen::MatrixBase<MatrixType>&, const Scalar)
   :project: pinocchio Doxygen Project