.. _exhale_function_aba-derivatives_8hxx_1a88a79edbc6c4bb0d666c6485430f9d97:

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


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