pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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rnea.hpp
1//
2// Copyright (c) 2026 INRIA
3//
4#pragma once
5
6// IWYU pragma: begin_keep
7#include <cstddef>
8
9#include <omp.h>
10
11#include <Eigen/Core>
12
13#include "pinocchio/macros.hpp"
14
15#include "pinocchio/utils/openmp.hpp"
16#include "pinocchio/multibody/pool.hpp"
17#include "pinocchio/algorithm/rnea.hpp"
18// IWYU pragma: end_keep
19
20namespace pinocchio
21{
39 template<
40 typename Scalar,
41 int Options,
42 template<typename, int> class JointCollectionTpl,
43 typename ConfigVectorPool,
44 typename TangentVectorPool1,
45 typename TangentVectorPool2,
46 typename TangentVectorPool3>
47 void rneaInParallel(
48 const size_t num_threads,
49 ModelPoolTpl<Scalar, Options, JointCollectionTpl> & pool,
50 const Eigen::MatrixBase<ConfigVectorPool> & q,
51 const Eigen::MatrixBase<TangentVectorPool1> & v,
52 const Eigen::MatrixBase<TangentVectorPool2> & a,
53 const Eigen::MatrixBase<TangentVectorPool3> & tau);
54} // namespace pinocchio
55
56// IWYU pragma: begin_exports
57#include "pinocchio/src/algorithm/parallel/rnea.hxx"
58// IWYU pragma: end_exports
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::rneaInParallel
void rneaInParallel(const size_t num_threads, ModelPoolTpl< Scalar, Options, JointCollectionTpl > &pool, const Eigen::MatrixBase< ConfigVectorPool > &q, const Eigen::MatrixBase< TangentVectorPool1 > &v, const Eigen::MatrixBase< TangentVectorPool2 > &a, const Eigen::MatrixBase< TangentVectorPool3 > &tau)
The Recursive Newton-Euler algorithm. It computes the inverse dynamics, aka the joint torques accordi...