crba.hpp

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//
// Copyright (c) 2015-2021 CNRS INRIA
//
 
#ifndef __pinocchio_crba_hpp__
#define __pinocchio_crba_hpp__
 
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/check.hpp"
 
namespace pinocchio
{
  template<
    typename Scalar,
    int Options,
    template<typename, int>
    class JointCollectionTpl,
    typename ConfigVectorType>
  const typename DataTpl<Scalar, Options, JointCollectionTpl>::MatrixXs & crba(
    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
    DataTpl<Scalar, Options, JointCollectionTpl> & data,
    const Eigen::MatrixBase<ConfigVectorType> & q,
    const Convention convention = Convention::LOCAL);
 
  PINOCCHIO_DEFINE_ALGO_CHECKER(CRBA);
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/crba.hxx"
 
#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
  #include "pinocchio/algorithm/crba.txx"
#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
 
#endif // ifndef __pinocchio_crba_hpp__