center-of-mass-derivatives.hpp
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1 //
2 // Copyright (c) 2019 CNRS
3 //
4 
5 #ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__
6 #define __pinocchio_algorithm_center_of_mass_derivatives_hpp__
7 
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 
11 namespace pinocchio
12 {
26  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
27  typename Matrix3xOut>
28  inline void getCenterOfMassVelocityDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
29  DataTpl<Scalar,Options,JointCollectionTpl> & data,
30  const Eigen::MatrixBase<Matrix3xOut> & vcom_partial_dq);
31 
32 
33 
34 } // namespace pinocchio
35 
36 #include "pinocchio/algorithm/center-of-mass-derivatives.hxx"
37 
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.
Definition: timings.cpp:28
JointCollectionTpl & model


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:29