Program Listing for File center-of-mass-derivatives.hpp
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//
// Copyright (c) 2019 CNRS
//
#ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__
#define __pinocchio_algorithm_center_of_mass_derivatives_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
typename Matrix3xOut>
inline void getCenterOfMassVelocityDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<Matrix3xOut> & vcom_partial_dq);
} // namespace pinocchio
#include "pinocchio/algorithm/center-of-mass-derivatives.hxx"
#endif // ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__