crba.hpp

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//
// Copyright (c) 2015-2018 CNRS
//

#ifndef __pinocchio_crba_hpp__
#define __pinocchio_crba_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>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
  crba(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
       DataTpl<Scalar,Options,JointCollectionTpl> & data,
       const Eigen::MatrixBase<ConfigVectorType> & q);
  
  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType>
  inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
  crbaMinimal(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
              DataTpl<Scalar,Options,JointCollectionTpl> & data,
              const Eigen::MatrixBase<ConfigVectorType> & q);

  PINOCCHIO_DEFINE_ALGO_CHECKER(CRBA);

} // namespace pinocchio 

/* --- Details -------------------------------------------------------------------- */
#include "pinocchio/algorithm/crba.hxx"

#endif // ifndef __pinocchio_crba_hpp__