crba.hpp File Reference
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/spatial/act-on-set.hpp"
#include <iostream>
Include dependency graph for crba.hpp:

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.