5 #ifndef __pinocchio_compute_all_terms_hpp__ 6 #define __pinocchio_compute_all_terms_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 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);
45 #include "pinocchio/algorithm/compute-all-terms.hxx" 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.