| Directory: | ./ |
|---|---|
| File: | examples/overview-simple.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Branches: | 13 | 26 | 50.0% |
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| 1 | #include <iostream> | ||
| 2 | |||
| 3 | #include "pinocchio/multibody/sample-models.hpp" | ||
| 4 | #include "pinocchio/algorithm/joint-configuration.hpp" | ||
| 5 | #include "pinocchio/algorithm/rnea.hpp" | ||
| 6 | |||
| 7 | 1 | int main() | |
| 8 | { | ||
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1 | pinocchio::Model model; |
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1 | pinocchio::buildModels::manipulator(model); |
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1 | pinocchio::Data data(model); |
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1 | Eigen::VectorXd q = pinocchio::neutral(model); |
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1 | Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv); |
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1 | Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv); |
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1 | const Eigen::VectorXd & tau = pinocchio::rnea(model, data, q, v, a); |
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1 | std::cout << "tau = " << tau.transpose() << std::endl; |
| 19 | 1 | } | |
| 20 |