Program Listing for File frames-derivatives.hpp
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//
// Copyright (c) 2020 INRIA
//
#ifndef __pinocchio_algorithm_frames_derivatives_hpp__
#define __pinocchio_algorithm_frames_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 Matrix6xOut1, typename Matrix6xOut2>
void
getFrameVelocityDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const FrameIndex frame_id,
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4>
void
getFrameAccelerationDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const FrameIndex frame_id,
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
const Eigen::MatrixBase<Matrix6xOut2> & a_partial_dq,
const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dv,
const Eigen::MatrixBase<Matrix6xOut4> & a_partial_da);
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4, typename Matrix6xOut5>
void
getFrameAccelerationDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
DataTpl<Scalar,Options,JointCollectionTpl> & data,
const FrameIndex frame_id,
const ReferenceFrame rf,
const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv,
const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dq,
const Eigen::MatrixBase<Matrix6xOut4> & a_partial_dv,
const Eigen::MatrixBase<Matrix6xOut5> & a_partial_da);
}
#include "pinocchio/algorithm/frames-derivatives.hxx"
#endif // ifndef __pinocchio_algorithm_frames_derivatives_hpp__