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#include "pinocchio/parsers/sample-models.hpp" |
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#include "pinocchio/algorithm/joint-configuration.hpp" |
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#include "pinocchio/algorithm/rnea.hpp" |
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int main() |
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{ |
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pinocchio::Model model; |
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pinocchio::buildModels::manipulator(model); |
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pinocchio::Data data(model); |
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Eigen::VectorXd q = pinocchio::neutral(model); |
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Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv); |
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Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv); |
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const Eigen::VectorXd & tau = pinocchio::rnea(model,data,q,v,a); |
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std::cout << "tau = " << tau.transpose() << std::endl; |
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} |