.. _exhale_function_namespacepinocchio_1af657c9d754ab4af0b8da91506b2377dc:

Template Function pinocchio::dccrba
===================================

- Defined in :ref:`file_include_pinocchio_algorithm_centroidal.hpp`


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


.. doxygenfunction:: pinocchio::dccrba(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType>&)
   :project: pinocchio Doxygen Project