.. _exhale_function_rnea-derivatives_8hxx_1ad5e325cbc24a585c03c67a89f5882b34:

Template Function pinocchio::impl::computeStaticTorqueDerivatives
=================================================================

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


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


.. doxygenfunction:: pinocchio::impl::computeStaticTorqueDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const container::aligned_vector<ForceTpl<Scalar, Options>>&, const Eigen::MatrixBase<ReturnMatrixType>&)
   :project: pinocchio Doxygen Project