Template Function pinocchio::impl::computeRNEADerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType1>&, const Eigen::MatrixBase<TangentVectorType2>&, const Eigen::MatrixBase<MatrixType1>&, const Eigen::MatrixBase<MatrixType2>&, const Eigen::MatrixBase<MatrixType3>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2, typename MatrixType1, typename MatrixType2, typename MatrixType3>
void pinocchio::impl::computeRNEADerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const Eigen::MatrixBase<ConfigVectorType> &q, const Eigen::MatrixBase<TangentVectorType1> &v, const Eigen::MatrixBase<TangentVectorType2> &a, const Eigen::MatrixBase<MatrixType1> &rnea_partial_dq, const Eigen::MatrixBase<MatrixType2> &rnea_partial_dv, const Eigen::MatrixBase<MatrixType3> &rnea_partial_da)