pinocchio  2.6.3
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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 
11 namespace pinocchio
12 {
37  template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType>
38  inline void computeAllTerms(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
39  DataTpl<Scalar,Options,JointCollectionTpl> & data,
40  const Eigen::MatrixBase<ConfigVectorType> & q,
41  const Eigen::MatrixBase<TangentVectorType> & v);
42 
43 } // namespace pinocchio
44 
45 #include "pinocchio/algorithm/compute-all-terms.hxx"
46 
47 #endif // ifndef __pinocchio_compute_all_terms_hpp__
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...
Main pinocchio namespace.
Definition: treeview.dox:24