Template Function pinocchio::getCoriolisMatrix

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
const DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs &pinocchio::getCoriolisMatrix(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data)

Retrives the Coriolis Matrix C(q,q˙) of the Lagrangian dynamics:

after a call to the dynamics derivatives.

Note

In the previous equation, c(q,q˙)=C(q,q˙)q˙.

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 Coriolis matrix stored in data.C.