Program Listing for File crba.hpp
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//
// Copyright (c) 2015-2018 CNRS
//
#ifndef __pinocchio_crba_hpp__
#define __pinocchio_crba_hpp__
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
namespace pinocchio
{
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
crba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
crbaMinimal(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const Eigen::MatrixBase<ConfigVectorType> & q);
PINOCCHIO_DEFINE_ALGO_CHECKER(CRBA);
} // namespace pinocchio
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/crba.hxx"
#endif // ifndef __pinocchio_crba_hpp__