Template Function pinocchio::computeMinverse(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&)
Defined in File aba.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
const DataTpl<Scalar, Options, JointCollectionTpl>::RowMatrixXs &pinocchio::computeMinverse(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data) Computes the inverse of the joint space inertia matrix using Articulated Body formulation. Compared to the complete signature computeMinverse<Scalar,Options,ConfigVectorType>, this version assumes that ABA has been called first.
- Template Parameters:
JointCollection – Collection of Joint types.
- Parameters:
model – [in] The model structure of the rigid body system.
data – [in] The data structure of the rigid body system.
- Returns:
The inverse of the joint space inertia matrix stored in data.ddq.