rnea.hpp File Reference
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/rnea.hxx"
Include dependency graph for rnea.hpp:

Namespaces

namespace  se3

Functions

const Eigen::VectorXd & se3::rnea (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
 The Recursive Newton-Euler algorithm.
const Eigen::VectorXd & se3::nonLinearEffects (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
 Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects), also called the biais terms \( b(q,\dot{q}) \) of the Lagrangian dynamics:

\( \begin{eqnarray} M \ddot{q} + b(q, \dot{q}) = \tau \end{eqnarray} \)