5 #ifndef __pinocchio_algorithm_energy_hpp__
6 #define __pinocchio_algorithm_energy_hpp__
27 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
29 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
30 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
50 template<
typename,
int>
51 class JointCollectionTpl,
52 typename ConfigVectorType,
53 typename TangentVectorType>
55 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
56 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
57 const Eigen::MatrixBase<ConfigVectorType> &
q,
58 const Eigen::MatrixBase<TangentVectorType> &
v);
79 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
81 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
82 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
106 template<
typename,
int>
107 class JointCollectionTpl,
108 typename ConfigVectorType>
110 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
111 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
112 const Eigen::MatrixBase<ConfigVectorType> &
q);
125 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
127 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
128 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
149 template<
typename,
int>
150 class JointCollectionTpl,
151 typename ConfigVectorType,
152 typename TangentVectorType>
154 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
155 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
156 const Eigen::MatrixBase<ConfigVectorType> &
q,
157 const Eigen::MatrixBase<TangentVectorType> &
v);
161 #include "pinocchio/algorithm/energy.hxx"
163 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
164 #include "pinocchio/algorithm/energy.txx"
165 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
167 #endif // __pinocchio_algorithm_energy_hpp__