CoM.h File Reference

#include <vector>
#include <Eigen/Core>
#include <rbdyn/config.hh>
#include "Jacobian.h"

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Classes
class	rbd::CoMJacobianDummy
class	rbd::CoMJacobian

Namespaces
	rbd

Functions
RBDYN_DLLAPI Eigen::Vector3d	rbd::computeCoM (const MultiBody &mb, const MultiBodyConfig &mbc)
RBDYN_DLLAPI Eigen::Vector3d	rbd::computeCoMVelocity (const MultiBody &mb, const MultiBodyConfig &mbc)
RBDYN_DLLAPI Eigen::Vector3d	rbd::computeCoMAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc)
RBDYN_DLLAPI Eigen::Vector3d	rbd::sComputeCoM (const MultiBody &mb, const MultiBodyConfig &mbc)
RBDYN_DLLAPI Eigen::Vector3d	rbd::sComputeCoMVelocity (const MultiBody &mb, const MultiBodyConfig &mbc)
RBDYN_DLLAPI Eigen::Vector3d	rbd::sComputeCoMAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc)