pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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crba.hpp
1//
2// Copyright (c) 2015-2021 CNRS INRIA
3//
4
5#pragma once
6
7// IWYU pragma: begin_keep
8#include <Eigen/Core>
9
10#include <cassert>
11#include <cstddef>
12
13#include <boost/fusion/container/vector.hpp>
14
15#include "pinocchio/macros.hpp"
16#include "pinocchio/eigen-common.hpp"
17
18#include "pinocchio/math.hpp"
19
20#include "pinocchio/spatial.hpp"
21
22#include "pinocchio/multibody.hpp"
23#include "pinocchio/multibody/joint.hpp"
24#include "pinocchio/multibody/visitor.hpp"
25
26#include "pinocchio/algorithm/check.hpp"
27// IWYU pragma: end_keep
28
29namespace pinocchio
30{
59 template<
60 typename Scalar,
61 int Options,
62 template<typename, int> class JointCollectionTpl,
63 typename ConfigVectorType>
64 const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & crba(
65 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
66 DataTpl<Scalar, Options, JointCollectionTpl> & data,
67 const Eigen::MatrixBase<ConfigVectorType> & q,
68 const Convention convention = Convention::LOCAL);
69
70 PINOCCHIO_DEFINE_ALGO_CHECKER(CRBA);
71
72} // namespace pinocchio
73// IWYU pragma: begin_exports
74#include "pinocchio/src/algorithm/crba.hxx"
75// IWYU pragma: end_exports
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::crba
const DataTpl< Scalar, Options, JointCollectionTpl >::MatrixXs & crba(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Convention convention=Convention::LOCAL)
Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid B...