centroidal-derivatives.hpp

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//
// Copyright (c) 2018-2021 INRIA
//
 
#ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__
#define __pinocchio_algorithm_centroidal_derivatives_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
 
namespace pinocchio
{
 
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename ConfigVectorType,
    typename TangentVectorType1,
    typename TangentVectorType2,
    typename Matrix6xLike0,
    typename Matrix6xLike1,
    typename Matrix6xLike2,
    typename Matrix6xLike3>
  void computeCentroidalDynamicsDerivatives(
    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 Eigen::MatrixBase<Matrix6xLike0> & dh_dq,
    const Eigen::MatrixBase<Matrix6xLike1> & dhdot_dq,
    const Eigen::MatrixBase<Matrix6xLike2> & dhdot_dv,
    const Eigen::MatrixBase<Matrix6xLike3> & dhdot_da);
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename Matrix6xLike0,
    typename Matrix6xLike1,
    typename Matrix6xLike2,
    typename Matrix6xLike3>
  void getCentroidalDynamicsDerivatives(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<Matrix6xLike1> & dh_dq,
    const Eigen::MatrixBase<Matrix6xLike1> & dhdot_dq,
    const Eigen::MatrixBase<Matrix6xLike2> & dhdot_dv,
    const Eigen::MatrixBase<Matrix6xLike3> & dhdot_da);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/centroidal-derivatives.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/centroidal-derivatives.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__