.. _exhale_function_namespacepinocchio_1a872e7af22fc1e5898fb44dcda16689d0:

Template Function pinocchio::computeForwardKinematicsDerivatives
================================================================

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


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


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