.. _exhale_function_namespacepinocchio_1ab2189ba486977de5fe3d971d77db0196:

Template Function pinocchio::computePvDelassusMatrix
====================================================

- Defined in :ref:`file_include_pinocchio_algorithm_delassus.hxx`


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


.. doxygenfunction:: pinocchio::computePvDelassusMatrix(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, DataAllocator>&, const Eigen::MatrixBase<MatrixType>&, const Scalar)
   :project: pinocchio Doxygen Project