pinocchio: center-of-mass-derivatives.cpp Source File

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 //
 // Copyright (c) 2022 INRIA
 //
  
 #include "pinocchio/algorithm/center-of-mass-derivatives.hpp"
  
 namespace pinocchio
 {
  
   template PINOCCHIO_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI void
   getCenterOfMassVelocityDerivatives<
     context::Scalar,
     context::Options,
     JointCollectionDefaultTpl,
     context::Matrix3x>(
     const context::Model &, context::Data &, const Eigen::MatrixBase<context::Matrix3x> &);
 } // namespace pinocchio

pinocchio::getCenterOfMassVelocityDerivatives

void getCenterOfMassVelocityDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq)

Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration...