Template Function pinocchio::impl::getPointVelocityDerivatives

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2>
void pinocchio::impl::getPointVelocityDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Model::JointIndex joint_id, const SE3Tpl<Scalar, Options> &placement, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix3xOut1> &v_point_partial_dq, const Eigen::MatrixBase<Matrix3xOut2> &v_point_partial_dv)