compute-all-terms.hpp

Go to the documentation of this file.

//
// 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__