5 #ifndef __pinocchio_aba_derivatives_hpp__
6 #define __pinocchio_aba_derivatives_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
37 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2,
38 typename MatrixType1,
typename MatrixType2,
typename MatrixType3>
40 DataTpl<Scalar,Options,JointCollectionTpl> & data,
41 const Eigen::MatrixBase<ConfigVectorType> & q,
42 const Eigen::MatrixBase<TangentVectorType1> & v,
43 const Eigen::MatrixBase<TangentVectorType2> & tau,
44 const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
45 const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
46 const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
72 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2,
73 typename MatrixType1,
typename MatrixType2,
typename MatrixType3>
75 DataTpl<Scalar,Options,JointCollectionTpl> & data,
76 const Eigen::MatrixBase<ConfigVectorType> & q,
77 const Eigen::MatrixBase<TangentVectorType1> & v,
78 const Eigen::MatrixBase<TangentVectorType2> & tau,
79 const container::aligned_vector< ForceTpl<Scalar,Options> > & fext,
80 const Eigen::MatrixBase<MatrixType1> & aba_partial_dq,
81 const Eigen::MatrixBase<MatrixType2> & aba_partial_dv,
82 const Eigen::MatrixBase<MatrixType3> & aba_partial_dtau);
104 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
107 const Eigen::MatrixBase<ConfigVectorType> & q,
108 const Eigen::MatrixBase<TangentVectorType1> & v,
109 const Eigen::MatrixBase<TangentVectorType2> & tau)
136 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
139 const Eigen::MatrixBase<ConfigVectorType> & q,
140 const Eigen::MatrixBase<TangentVectorType1> & v,
141 const Eigen::MatrixBase<TangentVectorType2> & tau,
151 #include "pinocchio/algorithm/aba-derivatives.hxx"
153 #endif // ifndef __pinocchio_aba_derivatives_hpp__