.. _exhale_function_kinematics-derivatives_8hxx_1a2c87d4ab9b12655ef532859ad54f3bcf:

Template Function pinocchio::impl::computeForwardKinematicsDerivatives
======================================================================

- Defined in :ref:`file_include_pinocchio_algorithm_kinematics-derivatives.hxx`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::impl::computeForwardKinematicsDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType1>&, const Eigen::MatrixBase<TangentVectorType2>&)
   :project: pinocchio Doxygen Project