.. _exhale_function_namespacepinocchio_1a4f03c6e5de74865b9a256f697e7c20c4:

Template Function pinocchio::computeCentroidalMapTimeVariation
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- Defined in :ref:`file_include_pinocchio_algorithm_centroidal.hpp`


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


.. doxygenfunction:: pinocchio::computeCentroidalMapTimeVariation(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType>&)
   :project: pinocchio Doxygen Project