centroidal-derivatives.hpp

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//
// Copyright (c) 2018 INRIA
//

#ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__
#define __pinocchio_algorithm_centroidal_derivatives_hpp__

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

namespace pinocchio
{
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
           typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2,
           typename Matrix6xLike0, typename Matrix6xLike1, typename Matrix6xLike2, typename Matrix6xLike3>
  inline void
  computeCentroidalDynamicsDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                       DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                       const Eigen::MatrixBase<ConfigVectorType> & q,
                                       const Eigen::MatrixBase<TangentVectorType1> & v,
                                       const Eigen::MatrixBase<TangentVectorType2> & a,
                                       const Eigen::MatrixBase<Matrix6xLike0> & dh_dq,
                                       const Eigen::MatrixBase<Matrix6xLike1> & dhdot_dq,
                                       const Eigen::MatrixBase<Matrix6xLike2> & dhdot_dv,
                                       const Eigen::MatrixBase<Matrix6xLike3> & dhdot_da);
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl,
           typename Matrix6xLike0,typename Matrix6xLike1, typename Matrix6xLike2, typename Matrix6xLike3>
  inline void
  getCentroidalDynamicsDerivatives(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
                                   DataTpl<Scalar,Options,JointCollectionTpl> & data,
                                   const Eigen::MatrixBase<Matrix6xLike1> & dh_dq,
                                   const Eigen::MatrixBase<Matrix6xLike1> & dhdot_dq,
                                   const Eigen::MatrixBase<Matrix6xLike2> & dhdot_dv,
                                   const Eigen::MatrixBase<Matrix6xLike3> & dhdot_da);
  
  
} // namespace pinocchio

/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/centroidal-derivatives.hxx"

#endif // ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__