5 #ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__
6 #define __pinocchio_algorithm_centroidal_derivatives_hpp__
50 template<
typename,
int>
51 class JointCollectionTpl,
52 typename ConfigVectorType,
53 typename TangentVectorType1,
54 typename TangentVectorType2,
55 typename Matrix6xLike0,
56 typename Matrix6xLike1,
57 typename Matrix6xLike2,
58 typename Matrix6xLike3>
60 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
61 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
62 const Eigen::MatrixBase<ConfigVectorType> &
q,
63 const Eigen::MatrixBase<TangentVectorType1> &
v,
64 const Eigen::MatrixBase<TangentVectorType2> &
a,
65 const Eigen::MatrixBase<Matrix6xLike0> & dh_dq,
66 const Eigen::MatrixBase<Matrix6xLike1> & dhdot_dq,
67 const Eigen::MatrixBase<Matrix6xLike2> & dhdot_dv,
68 const Eigen::MatrixBase<Matrix6xLike3> & dhdot_da);
97 template<
typename,
int>
98 class JointCollectionTpl,
99 typename Matrix6xLike0,
100 typename Matrix6xLike1,
101 typename Matrix6xLike2,
102 typename Matrix6xLike3>
104 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
105 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
106 const Eigen::MatrixBase<Matrix6xLike1> & dh_dq,
107 const Eigen::MatrixBase<Matrix6xLike1> & dhdot_dq,
108 const Eigen::MatrixBase<Matrix6xLike2> & dhdot_dv,
109 const Eigen::MatrixBase<Matrix6xLike3> & dhdot_da);
114 #include "pinocchio/algorithm/centroidal-derivatives.hxx"
116 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
117 #include "pinocchio/algorithm/centroidal-derivatives.txx"
118 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
120 #endif // ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__