pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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crba.hpp
1//
2// Copyright (c) 2015-2021 CNRS INRIA
3//
4
5#ifndef __pinocchio_crba_hpp__
6#define __pinocchio_crba_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10#include "pinocchio/algorithm/check.hpp"
11
12namespace pinocchio
13{
42 template<
43 typename Scalar,
44 int Options,
45 template<typename, int> class JointCollectionTpl,
46 typename ConfigVectorType>
47 const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & crba(
48 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
49 DataTpl<Scalar, Options, JointCollectionTpl> & data,
50 const Eigen::MatrixBase<ConfigVectorType> & q,
51 const Convention convention = Convention::LOCAL);
52
53 PINOCCHIO_DEFINE_ALGO_CHECKER(CRBA);
54
55} // namespace pinocchio
56
57/* --- Details -------------------------------------------------------------------- */
58#include "pinocchio/algorithm/crba.hxx"
59
60#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
61 #include "pinocchio/algorithm/crba.txx"
62#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
63
64#endif // ifndef __pinocchio_crba_hpp__
pinocchio::Convention
Convention
List of convention to call algorithms.
Definition fwd.hpp:74
pinocchio::Convention::LOCAL
@ LOCAL
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::crba
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & crba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Convention convention=Convention::LOCAL)
Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid B...