5 #ifndef __pinocchio_algorithm_frames_derivatives_hpp__
6 #define __pinocchio_algorithm_frames_derivatives_hpp__
37 template<
typename,
int>
38 class JointCollectionTpl,
39 typename Matrix6xOut1,
40 typename Matrix6xOut2>
42 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
43 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
45 const SE3Tpl<Scalar, Options> &
placement,
47 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
48 const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv);
72 template<
typename,
int>
73 class JointCollectionTpl,
74 typename Matrix6xOut1,
75 typename Matrix6xOut2>
81 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
82 const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv)
132 template<
typename,
int>
133 class JointCollectionTpl,
134 typename Matrix6xOut1,
135 typename Matrix6xOut2,
136 typename Matrix6xOut3,
137 typename Matrix6xOut4>
139 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
140 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
142 const SE3Tpl<Scalar, Options> &
placement,
144 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
145 const Eigen::MatrixBase<Matrix6xOut2> & a_partial_dq,
146 const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dv,
147 const Eigen::MatrixBase<Matrix6xOut4> & a_partial_da);
179 template<
typename,
int>
180 class JointCollectionTpl,
181 typename Matrix6xOut1,
182 typename Matrix6xOut2,
183 typename Matrix6xOut3,
184 typename Matrix6xOut4>
190 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
191 const Eigen::MatrixBase<Matrix6xOut2> & a_partial_dq,
192 const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dv,
193 const Eigen::MatrixBase<Matrix6xOut4> & a_partial_da)
247 template<
typename,
int>
248 class JointCollectionTpl,
249 typename Matrix6xOut1,
250 typename Matrix6xOut2,
251 typename Matrix6xOut3,
252 typename Matrix6xOut4,
253 typename Matrix6xOut5>
260 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
261 const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv,
262 const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dq,
263 const Eigen::MatrixBase<Matrix6xOut4> & a_partial_dv,
264 const Eigen::MatrixBase<Matrix6xOut5> & a_partial_da)
308 template<
typename,
int>
309 class JointCollectionTpl,
310 typename Matrix6xOut1,
311 typename Matrix6xOut2,
312 typename Matrix6xOut3,
313 typename Matrix6xOut4,
314 typename Matrix6xOut5>
320 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
321 const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv,
322 const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dq,
323 const Eigen::MatrixBase<Matrix6xOut4> & a_partial_dv,
324 const Eigen::MatrixBase<Matrix6xOut5> & a_partial_da)
344 #include "pinocchio/algorithm/frames-derivatives.hxx"
346 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
347 #include "pinocchio/algorithm/frames-derivatives.txx"
348 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
350 #endif // ifndef __pinocchio_algorithm_frames_derivatives_hpp__