src/algorithm/kinematics.cpp

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//
// Copyright (c) 2022 INRIA
//
 
#include "pinocchio/algorithm/kinematics.hpp"
 
namespace pinocchio
{
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
  updateGlobalPlacements<context::Scalar, context::Options, JointCollectionDefaultTpl>(
    const context::Model &, context::Data &);
  namespace impl
  {
    template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void forwardKinematics<
      context::Scalar,
      context::Options,
      JointCollectionDefaultTpl,
      Eigen::Ref<const context::VectorXs>>(
      const context::Model &,
      context::Data &,
      const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
 
    template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void forwardKinematics<
      context::Scalar,
      context::Options,
      JointCollectionDefaultTpl,
      Eigen::Ref<const context::VectorXs>,
      Eigen::Ref<const context::VectorXs>>(
      const context::Model &,
      context::Data &,
      const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
      const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
 
    template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void forwardKinematics<
      context::Scalar,
      context::Options,
      JointCollectionDefaultTpl,
      Eigen::Ref<const context::VectorXs>,
      Eigen::Ref<const context::VectorXs>,
      Eigen::Ref<const context::VectorXs>>(
      const context::Model &,
      context::Data &,
      const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
      const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &,
      const Eigen::MatrixBase<Eigen::Ref<const context::VectorXs>> &);
  } // namespace impl
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI
    SE3Tpl<context::Scalar, context::Options>
    getRelativePlacement<context::Scalar, context::Options, JointCollectionDefaultTpl>(
      const context::Model &,
      const context::Data &,
      const JointIndex,
      const JointIndex,
      const Convention);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI
    MotionTpl<context::Scalar, context::Options>
    getVelocity<context::Scalar, context::Options, JointCollectionDefaultTpl>(
      const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI
    MotionTpl<context::Scalar, context::Options>
    getAcceleration<context::Scalar, context::Options, JointCollectionDefaultTpl>(
      const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame);
 
  template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI
    MotionTpl<context::Scalar, context::Options>
    getClassicalAcceleration<context::Scalar, context::Options, JointCollectionDefaultTpl>(
      const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame);
} // namespace pinocchio