RNEA (Recursive Newton-Euler Algorithm)
=======================================

.. currentmodule:: RBDReference.RBDReference

Overview
--------
The Recursive Newton-Euler Algorithm (RNEA) computes the inverse dynamics of a robot.

Mathematical Background
-----------------------
[Include mathematical formulation]

Implementation
--------------

.. autofunction:: RBDReference


Example Usage
-------------

.. code-block:: python
    
   # Example code here

Performance Characteristics
----------------------------
[Include performance details]

See Also
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* :doc:`crba`
* :doc:`aba`
* :doc:`minv`
* :doc:`idsva`