.. _exhale_function_namespacepinocchio_1a0e9d4876360707c3cafe194895c178be:

Template Function pinocchio::computeStaticTorqueDerivatives
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- Defined in :ref:`file_include_pinocchio_algorithm_rnea-derivatives.hxx`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::computeStaticTorqueDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const container::aligned_vector<ForceTpl<Scalar, Options>>&, const Eigen::MatrixBase<ReturnMatrixType>&)
   :project: pinocchio Doxygen Project