center-of-mass-derivatives.hpp

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//
// Copyright (c) 2019 CNRS
//
 
#ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__
#define __pinocchio_algorithm_center_of_mass_derivatives_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
 
namespace pinocchio
{
  template<
    typename Scalar,
    int Options,
    template<typename, int> class JointCollectionTpl,
    typename Matrix3xOut>
  void getCenterOfMassVelocityDerivatives(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<Matrix3xOut> & vcom_partial_dq);
 
} // namespace pinocchio
 
#include "pinocchio/algorithm/center-of-mass-derivatives.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/center-of-mass-derivatives.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__