.. _exhale_function_namespacepinocchio_1a344d8d1d4380d93f228a880b0c3361fc:

Template Function pinocchio::computeCentroidalDynamicsDerivatives
=================================================================

- Defined in :ref:`file_include_pinocchio_algorithm_centroidal-derivatives.hpp`


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


.. doxygenfunction:: pinocchio::computeCentroidalDynamicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType1>&, const Eigen::MatrixBase<TangentVectorType2>&, const Eigen::MatrixBase<Matrix6xLike0>&, const Eigen::MatrixBase<Matrix6xLike1>&, const Eigen::MatrixBase<Matrix6xLike2>&, const Eigen::MatrixBase<Matrix6xLike3>&)
   :project: pinocchio Doxygen Project