pinocchio  2.4.0-dirty
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
doc/b-examples/c-dynamics.md
1 # Computing the dynamics RNEA, bias forces b(q,v), gravity g(q), CRBA M(q)
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3 ## Python
4 \include dynamics.py
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6 ## C++
7 \include dynamics.cpp