.. _exhale_function_namespacepinocchio_1a7221574a13491b62778144644141ad23:

Template Function pinocchio::computeGeneralizedGravityDerivatives
=================================================================

- Defined in :ref:`file_include_pinocchio_algorithm_rnea-derivatives.hxx`


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


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