iDynTree/DynamicsLinearization.h file

Namespaces

namespace iDynTree

Classes

struct iDynTree::ForwardDynamicsLinearizationInternalBuffers: Structure containing the internal buffers used by the ForwardDynamicsLinearization function.
class iDynTree::FreeFloatingStateLinearization

Functions

auto ForwardDynamicsLinearization(const Model& model, const Traversal& traversal, const FreeFloatingPos& robotPos, const FreeFloatingVel& robotVel, const LinkNetExternalWrenches& linkExtWrenches, const JointDOFsDoubleArray& jointTorques, ForwardDynamicsLinearizationInternalBuffers& bufs, FreeFloatingAcc& robotAcc, FreeFloatingStateLinearization& A) -> bool

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