Program Listing for File compute-all-terms.hpp
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//
// Copyright (c) 2015-2021 CNRS INRIA
//
#ifndef __pinocchio_compute_all_terms_hpp__
#define __pinocchio_compute_all_terms_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
inline void computeAllTerms(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q,
const Eigen::MatrixBase<TangentVectorType> & v);
} // namespace pinocchio
#include "pinocchio/algorithm/compute-all-terms.hxx"
#endif // ifndef __pinocchio_compute_all_terms_hpp__