Template Function pinocchio::impl::computeStaticTorqueDerivatives
Defined in File rnea-derivatives.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType>
void pinocchio::impl::computeStaticTorqueDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const container::aligned_vector<ForceTpl<Scalar, Options>> &fext, const Eigen::MatrixBase<ReturnMatrixType> &static_torque_partial_dq)