.. _exhale_function_namespacepinocchio_1a3d7116637251c2fe362f445672efeab3:

Template Function pinocchio::nonLinearEffects
=============================================

- Defined in :ref:`file_include_pinocchio_algorithm_rnea.hpp`


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


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