pinocchio::regressor Namespace Reference

Regressor computation. More...

Functions
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x &	computeStaticRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
	Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot. More...

Detailed Description

Regressor computation.

Function Documentation

DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x& pinocchio::regressor::computeStaticRegressor ( const ModelTpl< Scalar, Options, JointCollectionTpl > &  model, DataTpl< Scalar, Options, JointCollectionTpl > &  data, const Eigen::MatrixBase< ConfigVectorType > &  q  )

inline

Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot.

Template Parameters

JointCollection	Collection of Joint types.
ConfigVectorType	Type of the joint configuration vector.

Parameters

[in]	model	The model structure of the rigid body system.
[in]	data	The data structure of the rigid body system.
[in]	q	The joint configuration vector (dim model.nq).

Returns

The static regressor of the system.