center-of-mass-derivatives.hpp

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//
// Copyright (c) 2019 CNRS
//

#ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__
#define __pinocchio_algorithm_center_of_mass_derivatives_hpp__

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"

namespace pinocchio
{
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
           typename Matrix3xOut>
  inline void getCenterOfMassVelocityDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                                 DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                                 const Eigen::MatrixBase<Matrix3xOut> & vcom_partial_dq);



} // namespace pinocchio 

#include "pinocchio/algorithm/center-of-mass-derivatives.hxx"

#endif // ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__