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pinocchio
3.3.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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Member
pinocchio::appendGeometryModel
(
GeometryModel
&geom_model1, const
GeometryModel
&geom_model2)
This function is not asserted in unittest.
Member
pinocchio::buildReducedModel
(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, std::vector< JointIndex > list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration, ModelTpl< Scalar, Options, JointCollectionTpl > &reduced_model)
At the moment, the joint and geometry order is kept while the frames are re-ordered in a hard to predict way. Their order could be kept.
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