5 #ifndef __pinocchio_kinematics_hpp__
6 #define __pinocchio_kinematics_hpp__
26 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
28 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
29 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
44 template<
typename,
int>
45 class JointCollectionTpl,
46 typename ConfigVectorType>
48 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
49 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
50 const Eigen::MatrixBase<ConfigVectorType> &
q);
68 template<
typename,
int>
69 class JointCollectionTpl,
70 typename ConfigVectorType,
71 typename TangentVectorType>
73 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
74 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
75 const Eigen::MatrixBase<ConfigVectorType> &
q,
76 const Eigen::MatrixBase<TangentVectorType> &
v);
95 template<
typename,
int>
96 class JointCollectionTpl,
97 typename ConfigVectorType,
98 typename TangentVectorType1,
99 typename TangentVectorType2>
101 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
102 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
103 const Eigen::MatrixBase<ConfigVectorType> &
q,
104 const Eigen::MatrixBase<TangentVectorType1> &
v,
105 const Eigen::MatrixBase<TangentVectorType2> &
a);
121 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
123 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
124 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
142 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
144 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
145 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
164 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
166 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
167 const DataTpl<Scalar, Options, JointCollectionTpl> &
data,
176 #include "pinocchio/algorithm/kinematics.hxx"
178 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
179 #include "pinocchio/algorithm/kinematics.txx"
180 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
182 #endif // ifndef __pinocchio_kinematics_hpp__