Template Function pinocchio::impl::computeGeneralizedGravityDerivatives

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename ReturnMatrixType>
void pinocchio::impl::computeGeneralizedGravityDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<ReturnMatrixType> &gravity_partial_dq)