pinocchio  3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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 
12 namespace 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...