Template Function pinocchio::computeCentroidalMapTimeVariation

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
const DataTpl<Scalar, Options, JointCollectionTpl>::Matrix6x &pinocchio::computeCentroidalMapTimeVariation(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType> &v)

Computes the Centroidal Momentum Matrix time derivative.

Remark

As another output, this algorithm also computes the Centroidal Momentum Matrix Ag (accessible via data.Ag), the Joint Jacobian matrix (accessible via data.J) and the time derivatibe of the Joint Jacobian matrix (accessible via data.dJ).

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).

Returns:

The Centroidal Momentum Matrix time derivative dAg (accessible via data.dAg).