#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/crba.hxx"
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.
|
const Data::Matrix6x & | se3::ccrba (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v) |
| 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.
|