5 #ifndef __pinocchio_crba_hpp__
6 #define __pinocchio_crba_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/check.hpp"
32 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
33 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
34 crba(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
35 DataTpl<Scalar,Options,JointCollectionTpl> & data,
36 const Eigen::MatrixBase<ConfigVectorType> & q);
59 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
60 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
61 crbaMinimal(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
62 DataTpl<Scalar,Options,JointCollectionTpl> & data,
63 const Eigen::MatrixBase<ConfigVectorType> & q);
65 PINOCCHIO_DEFINE_ALGO_CHECKER(CRBA);
70 #include "pinocchio/algorithm/crba.hxx"
72 #endif // ifndef __pinocchio_crba_hpp__