Template Function pinocchio::impl::getJointAccelerationDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const Model::JointIndex, const ReferenceFrame, const Eigen::MatrixBase<Matrix6xOut1>&, const Eigen::MatrixBase<Matrix6xOut2>&, const Eigen::MatrixBase<Matrix6xOut3>&, const Eigen::MatrixBase<Matrix6xOut4>&)
Defined in File kinematics-derivatives.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4>
void pinocchio::impl::getJointAccelerationDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Model::JointIndex jointId, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix6xOut2> &a_partial_dq, const Eigen::MatrixBase<Matrix6xOut3> &a_partial_dv, const Eigen::MatrixBase<Matrix6xOut4> &a_partial_da)