pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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center-of-mass-derivatives.hpp
1//
2// Copyright (c) 2019 CNRS
3//
4
5#ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__
6#define __pinocchio_algorithm_center_of_mass_derivatives_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10
11namespace pinocchio
12{
27 template<
28 typename Scalar,
29 int Options,
30 template<typename, int> class JointCollectionTpl,
31 typename Matrix3xOut>
32 void getCenterOfMassVelocityDerivatives(
33 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
34 DataTpl<Scalar, Options, JointCollectionTpl> & data,
35 const Eigen::MatrixBase<Matrix3xOut> & vcom_partial_dq);
36
37} // namespace pinocchio
38
39#include "pinocchio/algorithm/center-of-mass-derivatives.hxx"
40
41#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
42 #include "pinocchio/algorithm/center-of-mass-derivatives.txx"
43#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
44
45#endif // ifndef __pinocchio_algorithm_center_of_mass_derivatives_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::getCenterOfMassVelocityDerivatives
void getCenterOfMassVelocityDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq)
Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration...