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

Function Documentation

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.