.. _exhale_function_namespacepinocchio_1aa6f12ecbc9b65061a002d056c6369497:

Template Function pinocchio::getJointVelocityDerivatives
========================================================

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


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


.. doxygenfunction:: pinocchio::getJointVelocityDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const Model::JointIndex, const ReferenceFrame, const Eigen::MatrixBase<Matrix6xOut1>&, const Eigen::MatrixBase<Matrix6xOut2>&)
   :project: pinocchio Doxygen Project