#include "pinocchio/multibody/model.hpp"
#include "pinocchio/algorithm/rnea.hxx"
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.
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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:
\( \begin{eqnarray} M \ddot{q} + b(q, \dot{q}) = \tau \end{eqnarray} \)
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