Template Function pinocchio::impl::getPointClassicAccelerationDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const Model::JointIndex, const SE3Tpl<Scalar, Options>&, const ReferenceFrame, const Eigen::MatrixBase<Matrix3xOut1>&, const Eigen::MatrixBase<Matrix3xOut2>&, const Eigen::MatrixBase<Matrix3xOut3>&, const Eigen::MatrixBase<Matrix3xOut4>&, const Eigen::MatrixBase<Matrix3xOut5>&)
Defined in File kinematics-derivatives.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, typename Matrix3xOut4, typename Matrix3xOut5>
void pinocchio::impl::getPointClassicAccelerationDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Model::JointIndex joint_id, const SE3Tpl<Scalar, Options> &placement, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix3xOut1> &v_point_partial_dq, const Eigen::MatrixBase<Matrix3xOut2> &v_point_partial_dv, const Eigen::MatrixBase<Matrix3xOut3> &a_point_partial_dq, const Eigen::MatrixBase<Matrix3xOut4> &a_point_partial_dv, const Eigen::MatrixBase<Matrix3xOut5> &a_point_partial_da)