Template Function pinocchio::centerOfMass(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType>&, const bool)
Defined in File center-of-mass.hpp
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
const DataTpl<Scalar, Options, JointCollectionTpl>::Vector3 &pinocchio::centerOfMass(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType> &v, const bool computeSubtreeComs = true) Computes the center of mass position and velocity of a given model according to a particular joint configuration and velocity. The result is accessible through data.com[0], data.vcom[0] for the full body com position and velocity. And data.com[i] and data.vcom[i] for the subtree supported by joint i (expressed in the joint i frame).
- Template Parameters:
JointCollection – Collection of Joint types.
ConfigVectorType – Type of the joint configuration vector.
TangentVectorType – Type of the joint velocity vector.
- Parameters:
model – [in] The model structure of the rigid body system.
data – [in] The data structure of the rigid body system.
q – [in] The joint configuration vector (dim model.nq).
v – [in] The joint velocity vector (dim model.nv).
computeSubtreeComs – [in] If true, the algorithm computes also the center of mass of the subtrees.
- Returns:
The center of mass position of the full rigid body system expressed in the world frame.