.. _exhale_function_aba-derivatives_8hxx_1a38f437f946b3bb2f8dca8d207928dbb9:

Template Function pinocchio::impl::computeABADerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&)
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- Defined in :ref:`file_include_pinocchio_algorithm_aba-derivatives.hxx`


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


.. doxygenfunction:: pinocchio::impl::computeABADerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&)
   :project: pinocchio Doxygen Project