#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/spatial/act-on-set.hpp"
#include <iostream>
Classes | |
struct | se3::CrbaForwardStep |
struct | se3::CrbaBackwardStep |
Namespaces | |
namespace | se3 |
Functions | |
const Eigen::MatrixXd & | se3::crba (const Model &model, Data &data, const Eigen::VectorXd &q) |
Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. |