| Directory: | ./ |
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| File: | include/pinocchio/algorithm/frames-derivatives.hpp |
| Date: | 2024-08-27 18:20:05 |
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| 1 | // | ||
| 2 | // Copyright (c) 2020 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_algorithm_frames_derivatives_hpp__ | ||
| 6 | #define __pinocchio_algorithm_frames_derivatives_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/multibody/model.hpp" | ||
| 9 | #include "pinocchio/multibody/data.hpp" | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | |||
| 14 | /** | ||
| 15 | * @brief Computes the partial derivatives of the spatial velocity of a frame given by its | ||
| 16 | * relative placement, with respect to q and v. You must first call | ||
| 17 | * pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. | ||
| 18 | * | ||
| 19 | * @tparam JointCollection Collection of Joint types. | ||
| 20 | * @tparam Matrix6xOut1 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 21 | * with respect to the joint configuration vector. | ||
| 22 | * @tparam Matrix6xOut2 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 23 | * with respect to the joint velocity vector. | ||
| 24 | * | ||
| 25 | * @param[in] model The kinematic model | ||
| 26 | * @param[in] data Data associated to model | ||
| 27 | * @param[in] joint_id Index of the supporting joint | ||
| 28 | * @param[in] placement Placement of the Frame w.r.t. the joint frame. | ||
| 29 | * @param[in] rf Reference frame in which the velocity is expressed. | ||
| 30 | * @param[out] v_partial_dq Partial derivative of the frame spatial velocity w.r.t. \f$ q \f$. | ||
| 31 | * @param[out] v_partial_dv Partial derivative of the frame spatial velociy w.r.t. \f$ v \f$. | ||
| 32 | * | ||
| 33 | */ | ||
| 34 | template< | ||
| 35 | typename Scalar, | ||
| 36 | int Options, | ||
| 37 | template<typename, int> | ||
| 38 | class JointCollectionTpl, | ||
| 39 | typename Matrix6xOut1, | ||
| 40 | typename Matrix6xOut2> | ||
| 41 | void getFrameVelocityDerivatives( | ||
| 42 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 43 | const DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 44 | const JointIndex joint_id, | ||
| 45 | const SE3Tpl<Scalar, Options> & placement, | ||
| 46 | const ReferenceFrame rf, | ||
| 47 | const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq, | ||
| 48 | const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv); | ||
| 49 | |||
| 50 | /** | ||
| 51 | * @brief Computes the partial derivatives of the frame spatial velocity with respect to q | ||
| 52 | * and v. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the | ||
| 53 | * required quantities. | ||
| 54 | * | ||
| 55 | * @tparam JointCollection Collection of Joint types. | ||
| 56 | * @tparam Matrix6xOut1 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 57 | * with respect to the joint configuration vector. | ||
| 58 | * @tparam Matrix6xOut2 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 59 | * with respect to the joint velocity vector. | ||
| 60 | * | ||
| 61 | * @param[in] model The kinematic model | ||
| 62 | * @param[in] data Data associated to model | ||
| 63 | * @param[in] frame_id Id of the operational Frame | ||
| 64 | * @param[in] rf Reference frame in which the velocity is expressed. | ||
| 65 | * @param[out] v_partial_dq Partial derivative of the frame spatial velocity w.r.t. \f$ q \f$. | ||
| 66 | * @param[out] v_partial_dv Partial derivative of the frame spatial velociy w.r.t. \f$ v \f$. | ||
| 67 | * | ||
| 68 | */ | ||
| 69 | template< | ||
| 70 | typename Scalar, | ||
| 71 | int Options, | ||
| 72 | template<typename, int> | ||
| 73 | class JointCollectionTpl, | ||
| 74 | typename Matrix6xOut1, | ||
| 75 | typename Matrix6xOut2> | ||
| 76 | 6 | void getFrameVelocityDerivatives( | |
| 77 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 78 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 79 | const FrameIndex frame_id, | ||
| 80 | const ReferenceFrame rf, | ||
| 81 | const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq, | ||
| 82 | const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv) | ||
| 83 | { | ||
| 84 |
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6 | PINOCCHIO_CHECK_INPUT_ARGUMENT((int)frame_id < model.nframes, "The frame_id is not valid."); |
| 85 | typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; | ||
| 86 | typedef DataTpl<Scalar, Options, JointCollectionTpl> Data; | ||
| 87 | typedef typename Model::Frame Frame; | ||
| 88 | |||
| 89 | 6 | const Frame & frame = model.frames[frame_id]; | |
| 90 | 6 | typename Data::SE3 & oMframe = data.oMf[frame_id]; | |
| 91 |
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6 | oMframe = data.oMi[frame.parentJoint] * frame.placement; // for backward compatibility |
| 92 | 6 | getFrameVelocityDerivatives( | |
| 93 | 6 | model, data, frame.parentJoint, frame.placement, rf, | |
| 94 | 6 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1, v_partial_dq), | |
| 95 | 6 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1, v_partial_dv)); | |
| 96 | 6 | } | |
| 97 | |||
| 98 | /** | ||
| 99 | * @brief Computes the partial derivatives of the spatial acceleration of a frame given by | ||
| 100 | * its relative placement, with respect to q, v and a. You must first call | ||
| 101 | * pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is | ||
| 102 | * important to notice that a direct outcome (for free) of this algo is v_partial_dq and | ||
| 103 | * v_partial_dv which is equal to a_partial_da. | ||
| 104 | * | ||
| 105 | * @tparam JointCollection Collection of Joint types. | ||
| 106 | * @tparam Matrix6xOut1 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 107 | * with respect to the joint configuration vector. | ||
| 108 | * @tparam Matrix6xOut2 Matrix6x containing the partial derivatives of the frame spatial | ||
| 109 | * acceleration with respect to the joint configuration vector. | ||
| 110 | * @tparam Matrix6xOut3 Matrix6x containing the partial derivatives of the frame spatial | ||
| 111 | * acceleration with respect to the joint velocity vector. | ||
| 112 | * @tparam Matrix6xOut4 Matrix6x containing the partial derivatives of the frame spatial | ||
| 113 | * acceleration with respect to the joint acceleration vector. | ||
| 114 | * | ||
| 115 | * @param[in] model The kinematic model | ||
| 116 | * @param[in] data Data associated to model | ||
| 117 | * @param[in] joint_id Index of the supporting joint | ||
| 118 | * @param[in] placement Placement of the Frame w.r.t. the joint frame. | ||
| 119 | * @param[in] rf Reference frame in which the velocity is expressed. | ||
| 120 | * @param[out] v_partial_dq Partial derivative of the frame spatial velocity w.r.t. \f$ q \f$. | ||
| 121 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ q | ||
| 122 | * \f$. | ||
| 123 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ v | ||
| 124 | * \f$. | ||
| 125 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ | ||
| 126 | * \dot{v} \f$. | ||
| 127 | * | ||
| 128 | */ | ||
| 129 | template< | ||
| 130 | typename Scalar, | ||
| 131 | int Options, | ||
| 132 | template<typename, int> | ||
| 133 | class JointCollectionTpl, | ||
| 134 | typename Matrix6xOut1, | ||
| 135 | typename Matrix6xOut2, | ||
| 136 | typename Matrix6xOut3, | ||
| 137 | typename Matrix6xOut4> | ||
| 138 | void getFrameAccelerationDerivatives( | ||
| 139 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 140 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 141 | const JointIndex joint_id, | ||
| 142 | const SE3Tpl<Scalar, Options> & placement, | ||
| 143 | const ReferenceFrame rf, | ||
| 144 | const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq, | ||
| 145 | const Eigen::MatrixBase<Matrix6xOut2> & a_partial_dq, | ||
| 146 | const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dv, | ||
| 147 | const Eigen::MatrixBase<Matrix6xOut4> & a_partial_da); | ||
| 148 | |||
| 149 | /** | ||
| 150 | * @brief Computes the partial derivatives of the frame acceleration quantity with respect to | ||
| 151 | * q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all | ||
| 152 | * the required quantities. It is important to notice that a direct outcome (for free) of this | ||
| 153 | * algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. | ||
| 154 | * | ||
| 155 | * @tparam JointCollection Collection of Joint types. | ||
| 156 | * @tparam Matrix6xOut1 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 157 | * with respect to the joint configuration vector. | ||
| 158 | * @tparam Matrix6xOut2 Matrix6x containing the partial derivatives of the frame spatial | ||
| 159 | * acceleration with respect to the joint configuration vector. | ||
| 160 | * @tparam Matrix6xOut3 Matrix6x containing the partial derivatives of the frame spatial | ||
| 161 | * acceleration with respect to the joint velocity vector. | ||
| 162 | * @tparam Matrix6xOut4 Matrix6x containing the partial derivatives of the frame spatial | ||
| 163 | * acceleration with respect to the joint acceleration vector. | ||
| 164 | * | ||
| 165 | * @param[in] model The kinematic model | ||
| 166 | * @param[in] data Data associated to model | ||
| 167 | * @param[in] frame_id Id of the operational Frame | ||
| 168 | * @param[in] rf Reference frame in which the velocity is expressed. | ||
| 169 | * @param[out] v_partial_dq Partial derivative of the frame spatial velocity w.r.t. \f$ q \f$. | ||
| 170 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ q \f$. | ||
| 171 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ v \f$. | ||
| 172 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ | ||
| 173 | * \dot{v} \f$. | ||
| 174 | * | ||
| 175 | */ | ||
| 176 | template< | ||
| 177 | typename Scalar, | ||
| 178 | int Options, | ||
| 179 | template<typename, int> | ||
| 180 | class JointCollectionTpl, | ||
| 181 | typename Matrix6xOut1, | ||
| 182 | typename Matrix6xOut2, | ||
| 183 | typename Matrix6xOut3, | ||
| 184 | typename Matrix6xOut4> | ||
| 185 | 6 | void getFrameAccelerationDerivatives( | |
| 186 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 187 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 188 | const FrameIndex frame_id, | ||
| 189 | const ReferenceFrame rf, | ||
| 190 | const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq, | ||
| 191 | const Eigen::MatrixBase<Matrix6xOut2> & a_partial_dq, | ||
| 192 | const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dv, | ||
| 193 | const Eigen::MatrixBase<Matrix6xOut4> & a_partial_da) | ||
| 194 | { | ||
| 195 |
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6 | PINOCCHIO_CHECK_INPUT_ARGUMENT((int)frame_id < model.nframes, "The frame_id is not valid."); |
| 196 | typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; | ||
| 197 | typedef DataTpl<Scalar, Options, JointCollectionTpl> Data; | ||
| 198 | typedef typename Model::Frame Frame; | ||
| 199 | |||
| 200 | 6 | const Frame & frame = model.frames[frame_id]; | |
| 201 | 6 | typename Data::SE3 & oMframe = data.oMf[frame_id]; | |
| 202 |
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6 | oMframe = data.oMi[frame.parentJoint] * frame.placement; // for backward compatibility |
| 203 | 6 | getFrameAccelerationDerivatives( | |
| 204 | 6 | model, data, frame.parentJoint, frame.placement, rf, | |
| 205 | 6 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1, v_partial_dq), | |
| 206 | 6 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut2, a_partial_dq), | |
| 207 | 6 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut3, a_partial_dv), | |
| 208 | 6 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut4, a_partial_da)); | |
| 209 | 6 | } | |
| 210 | |||
| 211 | /** | ||
| 212 | * @brief Computes the partial derivatives of the frame acceleration quantity with respect to | ||
| 213 | * q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all | ||
| 214 | * the required quantities. It is important to notice that a direct outcome (for free) of this | ||
| 215 | * algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. | ||
| 216 | * | ||
| 217 | * @tparam JointCollection Collection of Joint types. | ||
| 218 | * @tparam Matrix6xOut1 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 219 | * with respect to the joint configuration vector. | ||
| 220 | * @tparam Matrix6xOut2 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 221 | * with respect to the joint velocity vector. | ||
| 222 | * @tparam Matrix6xOut3 Matrix6x containing the partial derivatives of the frame spatial | ||
| 223 | * acceleration with respect to the joint configuration vector. | ||
| 224 | * @tparam Matrix6xOut4 Matrix6x containing the partial derivatives of the frame spatial | ||
| 225 | * acceleration with respect to the joint velocity vector. | ||
| 226 | * @tparam Matrix6xOut5 Matrix6x containing the partial derivatives of the frame spatial | ||
| 227 | * acceleration with respect to the joint acceleration vector. | ||
| 228 | * | ||
| 229 | * @param[in] model The kinematic model | ||
| 230 | * @param[in] data Data associated to model | ||
| 231 | * @param[in] joint_id Index of the supporting joint | ||
| 232 | * @param[in] placement Placement of the Frame w.r.t. the joint frame. | ||
| 233 | * @param[in] rf Reference frame in which the velocity is expressed. | ||
| 234 | * @param[out] v_partial_dq Partial derivative of the frame spatial velocity w.r.t. \f$ q \f$. | ||
| 235 | * @param[out] v_partial_dv Partial derivative of the frame spatial velociy w.r.t. \f$ v \f$. | ||
| 236 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ q | ||
| 237 | * \f$. | ||
| 238 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ v | ||
| 239 | * \f$. | ||
| 240 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ | ||
| 241 | * \dot{v} \f$. | ||
| 242 | * | ||
| 243 | */ | ||
| 244 | template< | ||
| 245 | typename Scalar, | ||
| 246 | int Options, | ||
| 247 | template<typename, int> | ||
| 248 | class JointCollectionTpl, | ||
| 249 | typename Matrix6xOut1, | ||
| 250 | typename Matrix6xOut2, | ||
| 251 | typename Matrix6xOut3, | ||
| 252 | typename Matrix6xOut4, | ||
| 253 | typename Matrix6xOut5> | ||
| 254 | 3 | void getFrameAccelerationDerivatives( | |
| 255 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 256 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 257 | const JointIndex joint_id, | ||
| 258 | const SE3Tpl<Scalar, Options> & placement, | ||
| 259 | const ReferenceFrame rf, | ||
| 260 | const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq, | ||
| 261 | const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv, | ||
| 262 | const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dq, | ||
| 263 | const Eigen::MatrixBase<Matrix6xOut4> & a_partial_dv, | ||
| 264 | const Eigen::MatrixBase<Matrix6xOut5> & a_partial_da) | ||
| 265 | { | ||
| 266 | 3 | getFrameAccelerationDerivatives( | |
| 267 | 3 | model, data, joint_id, placement, rf, PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1, v_partial_dq), | |
| 268 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut3, a_partial_dq), | |
| 269 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut4, a_partial_dv), | |
| 270 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut5, a_partial_da)); | |
| 271 | |||
| 272 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut2, v_partial_dv) = a_partial_da; | |
| 273 | 3 | } | |
| 274 | |||
| 275 | /** | ||
| 276 | * @brief Computes the partial derivatives of the frame acceleration quantity with respect to | ||
| 277 | * q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all | ||
| 278 | * the required quantities. It is important to notice that a direct outcome (for free) of this | ||
| 279 | * algo is v_partial_dq and v_partial_dv which is equal to a_partial_da. | ||
| 280 | * | ||
| 281 | * @tparam JointCollection Collection of Joint types. | ||
| 282 | * @tparam Matrix6xOut1 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 283 | * with respect to the joint configuration vector. | ||
| 284 | * @tparam Matrix6xOut2 Matrix6x containing the partial derivatives of the frame spatial velocity | ||
| 285 | * with respect to the joint velocity vector. | ||
| 286 | * @tparam Matrix6xOut3 Matrix6x containing the partial derivatives of the frame spatial | ||
| 287 | * acceleration with respect to the joint configuration vector. | ||
| 288 | * @tparam Matrix6xOut4 Matrix6x containing the partial derivatives of the frame spatial | ||
| 289 | * acceleration with respect to the joint velocity vector. | ||
| 290 | * @tparam Matrix6xOut5 Matrix6x containing the partial derivatives of the frame spatial | ||
| 291 | * acceleration with respect to the joint acceleration vector. | ||
| 292 | * | ||
| 293 | * @param[in] model The kinematic model | ||
| 294 | * @param[in] data Data associated to model | ||
| 295 | * @param[in] frame_id Id of the operational Frame | ||
| 296 | * @param[in] rf Reference frame in which the velocity is expressed. | ||
| 297 | * @param[out] v_partial_dq Partial derivative of the frame spatial velocity w.r.t. \f$ q \f$. | ||
| 298 | * @param[out] v_partial_dv Partial derivative of the frame spatial velociy w.r.t. \f$ v \f$. | ||
| 299 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ q \f$. | ||
| 300 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ v \f$. | ||
| 301 | * @param[out] a_partial_dq Partial derivative of the frame spatial acceleration w.r.t. \f$ | ||
| 302 | * \dot{v} \f$. | ||
| 303 | * | ||
| 304 | */ | ||
| 305 | template< | ||
| 306 | typename Scalar, | ||
| 307 | int Options, | ||
| 308 | template<typename, int> | ||
| 309 | class JointCollectionTpl, | ||
| 310 | typename Matrix6xOut1, | ||
| 311 | typename Matrix6xOut2, | ||
| 312 | typename Matrix6xOut3, | ||
| 313 | typename Matrix6xOut4, | ||
| 314 | typename Matrix6xOut5> | ||
| 315 | 3 | void getFrameAccelerationDerivatives( | |
| 316 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
| 317 | DataTpl<Scalar, Options, JointCollectionTpl> & data, | ||
| 318 | const FrameIndex frame_id, | ||
| 319 | const ReferenceFrame rf, | ||
| 320 | const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq, | ||
| 321 | const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv, | ||
| 322 | const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dq, | ||
| 323 | const Eigen::MatrixBase<Matrix6xOut4> & a_partial_dv, | ||
| 324 | const Eigen::MatrixBase<Matrix6xOut5> & a_partial_da) | ||
| 325 | { | ||
| 326 |
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3 | PINOCCHIO_CHECK_INPUT_ARGUMENT((int)frame_id < model.nframes, "The frame_id is not valid."); |
| 327 | typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; | ||
| 328 | typedef DataTpl<Scalar, Options, JointCollectionTpl> Data; | ||
| 329 | typedef typename Model::Frame Frame; | ||
| 330 | |||
| 331 | 3 | const Frame & frame = model.frames[frame_id]; | |
| 332 | 3 | typename Data::SE3 & oMframe = data.oMf[frame_id]; | |
| 333 |
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3 | oMframe = data.oMi[frame.parentJoint] * frame.placement; // for backward compatibility |
| 334 | 3 | getFrameAccelerationDerivatives( | |
| 335 | 3 | model, data, frame.parentJoint, frame.placement, rf, | |
| 336 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut1, v_partial_dq), | |
| 337 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut2, v_partial_dv), | |
| 338 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut3, a_partial_dq), | |
| 339 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut4, a_partial_dv), | |
| 340 | 3 | PINOCCHIO_EIGEN_CONST_CAST(Matrix6xOut5, a_partial_da)); | |
| 341 | 3 | } | |
| 342 | } // namespace pinocchio | ||
| 343 | |||
| 344 | #include "pinocchio/algorithm/frames-derivatives.hxx" | ||
| 345 | |||
| 346 | #if PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION | ||
| 347 | #include "pinocchio/algorithm/frames-derivatives.txx" | ||
| 348 | #endif // PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION | ||
| 349 | |||
| 350 | #endif // ifndef __pinocchio_algorithm_frames_derivatives_hpp__ | ||
| 351 |