Program Listing for File rnea-second-order-derivatives.hpp
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//
// Copyright (c) 2017-2019 CNRS INRIA
#ifndef __pinocchio_algorithm_rnea_second_order_derivatives_hpp__
#define __pinocchio_algorithm_rnea_second_order_derivatives_hpp__
#include "pinocchio/container/aligned-vector.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/multibody/model.hpp"
namespace pinocchio {
template <typename Scalar, int Options,
template <typename, int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType1,
typename TangentVectorType2, typename Tensor1,
typename Tensor2, typename Tensor3, typename Tensor4>
inline void ComputeRNEASecondOrderDerivatives(
const ModelTpl<Scalar, Options, JointCollectionTpl> &model,
DataTpl<Scalar, Options, JointCollectionTpl> &data,
const Eigen::MatrixBase<ConfigVectorType> &q,
const Eigen::MatrixBase<TangentVectorType1> &v,
const Eigen::MatrixBase<TangentVectorType2> &a,
const Tensor1 &d2tau_dqdq, const Tensor2 &d2tau_dvdv,
const Tensor3 &dtau_dqdv, const Tensor4 &dtau_dadq);
template <typename Scalar, int Options,
template <typename, int> class JointCollectionTpl,
typename ConfigVectorType, typename TangentVectorType1,
typename TangentVectorType2>
inline void ComputeRNEASecondOrderDerivatives(
const ModelTpl<Scalar, Options, JointCollectionTpl> &model,
DataTpl<Scalar, Options, JointCollectionTpl> &data,
const Eigen::MatrixBase<ConfigVectorType> &q,
const Eigen::MatrixBase<TangentVectorType1> &v,
const Eigen::MatrixBase<TangentVectorType2> &a) {
(data.d2tau_dqdq).setZero();
(data.d2tau_dvdv).setZero();
(data.d2tau_dqdv).setZero();
(data.d2tau_dadq).setZero();
ComputeRNEASecondOrderDerivatives(model, data, q.derived(), v.derived(), a.derived(),
data.d2tau_dqdq, data.d2tau_dvdv, data.d2tau_dqdv,
data.d2tau_dadq);
}
} // namespace pinocchio
#include "pinocchio/algorithm/rnea-second-order-derivatives.hxx"
#endif // ifndef __pinocchio_algorithm_rnea_second_order_derivatives_hpp__