pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
Loading...
Searching...
No Matches
compute-all-terms.hpp
1//
2// Copyright (c) 2015-2021 CNRS INRIA
3//
4
5#ifndef __pinocchio_compute_all_terms_hpp__
6#define __pinocchio_compute_all_terms_hpp__
7
8#include "pinocchio/multibody/model.hpp"
9#include "pinocchio/multibody/data.hpp"
10
11namespace pinocchio
12{
39 template<
40 typename Scalar,
41 int Options,
42 template<typename, int> class JointCollectionTpl,
43 typename ConfigVectorType,
44 typename TangentVectorType>
45 void computeAllTerms(
46 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
47 DataTpl<Scalar, Options, JointCollectionTpl> & data,
48 const Eigen::MatrixBase<ConfigVectorType> & q,
49 const Eigen::MatrixBase<TangentVectorType> & v);
50
51} // namespace pinocchio
52
53#include "pinocchio/algorithm/compute-all-terms.hxx"
54
55#if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
56 #include "pinocchio/algorithm/compute-all-terms.txx"
57#endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
58
59#endif // ifndef __pinocchio_compute_all_terms_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::computeAllTerms
void computeAllTerms(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v)
Computes efficiently all the terms needed for dynamic simulation. It is equivalent to the call at the...