Choreonoid  1.8
MassMatrix.h
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1 
5 #ifndef CNOID_BODY_MASS_MATRIX_H
6 #define CNOID_BODY_MASS_MATRIX_H
7 
8 #include "Body.h"
9 #include "exportdecl.h"
10 
11 namespace cnoid {
12 
13 CNOID_EXPORT void calcMassMatrix(Body* body, MatrixXd& out_M);
14 CNOID_EXPORT void calcMassMatrix(Body* body, const Vector3& g, MatrixXd& out_M, VectorXd& out_b);
15 
16 }
17 
18 #endif
cnoid::Vector3
Eigen::Vector3d Vector3
Definition: EigenTypes.h:57
cnoid
Definition: AbstractSceneLoader.h:11
Body.h
cnoid::calcMassMatrix
void calcMassMatrix(Body *body, const Vector3 &g, Eigen::MatrixXd &out_M, VectorXd &out_b)
Definition: MassMatrix.cpp:43
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