5 #ifndef __pinocchio_algorithm_aba_hpp__
6 #define __pinocchio_algorithm_aba_hpp__
37 template<
typename,
int>
38 class JointCollectionTpl,
39 typename ConfigVectorType,
40 typename TangentVectorType1,
41 typename TangentVectorType2>
43 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
44 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
45 const Eigen::MatrixBase<ConfigVectorType> &
q,
46 const Eigen::MatrixBase<TangentVectorType1> &
v,
47 const Eigen::MatrixBase<TangentVectorType2> &
tau,
75 template<
typename,
int>
76 class JointCollectionTpl,
77 typename ConfigVectorType,
78 typename TangentVectorType1,
79 typename TangentVectorType2,
80 typename ForceDerived>
82 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
83 DataTpl<Scalar, Options, JointCollectionTpl> &
data,
84 const Eigen::MatrixBase<ConfigVectorType> &
q,
85 const Eigen::MatrixBase<TangentVectorType1> &
v,
86 const Eigen::MatrixBase<TangentVectorType2> &
tau,
87 const container::aligned_vector<ForceDerived> & fext,
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);
127 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl>
129 const ModelTpl<Scalar, Options, JointCollectionTpl> &
model,
130 DataTpl<Scalar, Options, JointCollectionTpl> &
data);
137 #include "pinocchio/algorithm/aba.hxx"
139 #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
140 #include "pinocchio/algorithm/aba.txx"
141 #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
143 #endif // ifndef __pinocchio_algorithm_aba_hpp__