Momentum.h File Reference

#include <vector>
#include <rbdyn/config.hh>
#include <SpaceVecAlg/SpaceVecAlg>

Include dependency graph for Momentum.h:

Go to the source code of this file.

Classes
class	rbd::CentroidalMomentumMatrix

Namespaces
	rbd

Functions
RBDYN_DLLAPI sva::ForceVecd	rbd::computeCentroidalMomentum (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com)
RBDYN_DLLAPI sva::ForceVecd	rbd::computeCentroidalMomentumDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)
	Compute the time derivative of centroidal momentum at the CoM frame. More...
RBDYN_DLLAPI sva::ForceVecd	rbd::sComputeCentroidalMomentum (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com)
RBDYN_DLLAPI sva::ForceVecd	rbd::sComputeCentroidalMomentumDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)