Template Struct CoMVelocityDerivativesForwardStep
Defined in File center-of-mass-derivatives.hxx
Inheritance Relationships
Base Type
public pinocchio::fusion::JointUnaryVisitorBase< CoMVelocityDerivativesForwardStep< Scalar, Options, JointCollectionTpl, Matrix3xOut > >(Template Struct JointUnaryVisitorBase)
Struct Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xOut>
struct CoMVelocityDerivativesForwardStep : public pinocchio::fusion::JointUnaryVisitorBase<CoMVelocityDerivativesForwardStep<Scalar, Options, JointCollectionTpl, Matrix3xOut>> Public Types
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
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typedef boost::fusion::vector<const Model&, Data&, Matrix3xOut&> ArgsType
Public Static Functions
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template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, JointDataBase<typename JointModel::JointDataDerived> &jdata, const Model &model, Data &data, const Eigen::MatrixBase<Matrix3xOut> &vcom_partial_dq)
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model