5 #ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__ 6 #define __pinocchio_algorithm_center_of_mass_derivatives_hpp__ 8 #include "pinocchio/multibody/model.hpp" 9 #include "pinocchio/multibody/data.hpp" 26 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
29 DataTpl<Scalar,Options,JointCollectionTpl> &
data,
30 const Eigen::MatrixBase<Matrix3xOut> & vcom_partial_dq);
36 #include "pinocchio/algorithm/center-of-mass-derivatives.hxx" 38 #endif // ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__ void getCenterOfMassVelocityDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq)
Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration...
Main pinocchio namespace.
JointCollectionTpl & model