.. _exhale_function_namespacepinocchio_1a42b251834df6908dbb7cc2f3d921b7fc:

Template Function pinocchio::getCentroidalDynamicsDerivatives
=============================================================

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


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


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