#include <algorithm/crba.hpp>
List of all members.
Member Typedef Documentation
Member Function Documentation
template<typename JointModel >
static void se3::CrbaBackwardStep::algo |
( |
const JointModelBase< JointModel > & |
jmodel, |
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JointDataBase< typename JointModel::JointData > & |
jdata, |
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const Model & |
model, |
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Data & |
data |
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) |
| [inline, static] |
References se3::Data::Fcrb, se3::JointModelBase< _JointModel >::id(), se3::JointModelBase< _JointModel >::idx_v(), se3::JointModelBase< _JointModel >::jointCols(), se3::Data::liMi, se3::Data::M, se3::JointModelBase< _JointModel >::nv(), se3::Data::nvSubtree, se3::Model::parents, se3::JointDataBase< _JointData >::S(), se3::forceSet::se3Action(), and se3::Data::Ycrb.