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crba

phyz

Function crba 

Source 
pub fn crba(
    model: &Model,
    state: &State,
) -> Matrix<f64, Dyn, Dyn, VecStorage<f64, Dyn, Dyn>>
Expand description

Compute the joint-space mass matrix M(q) using CRBA.

Returns an nv × nv symmetric positive-definite matrix.