.. _exhale_function_kinematics-derivatives_8hxx_1afd2d5a02fef78238e6c116021d71bbd1:

Template Function pinocchio::impl::getJointVelocityDerivatives
==============================================================

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


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


.. doxygenfunction:: pinocchio::impl::getJointVelocityDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const Model::JointIndex, const ReferenceFrame, const Eigen::MatrixBase<Matrix6xOut1>&, const Eigen::MatrixBase<Matrix6xOut2>&)
   :project: pinocchio Doxygen Project