5 #ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__
6 #define __pinocchio_algorithm_centroidal_derivatives_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
10 #include "pinocchio/algorithm/check.hpp"
45 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
46 typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2,
47 typename Matrix6xLike0,
typename Matrix6xLike1,
typename Matrix6xLike2,
typename Matrix6xLike3>
50 DataTpl<Scalar,Options,JointCollectionTpl> & data,
51 const Eigen::MatrixBase<ConfigVectorType> & q,
52 const Eigen::MatrixBase<TangentVectorType1> & v,
53 const Eigen::MatrixBase<TangentVectorType2> & a,
54 const Eigen::MatrixBase<Matrix6xLike0> & dh_dq,
55 const Eigen::MatrixBase<Matrix6xLike1> & dhdot_dq,
56 const Eigen::MatrixBase<Matrix6xLike2> & dhdot_dv,
57 const Eigen::MatrixBase<Matrix6xLike3> & dhdot_da);
79 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
80 typename Matrix6xLike0,
typename Matrix6xLike1,
typename Matrix6xLike2,
typename Matrix6xLike3>
83 DataTpl<Scalar,Options,JointCollectionTpl> & data,
84 const Eigen::MatrixBase<Matrix6xLike1> & dh_dq,
85 const Eigen::MatrixBase<Matrix6xLike1> & dhdot_dq,
86 const Eigen::MatrixBase<Matrix6xLike2> & dhdot_dv,
87 const Eigen::MatrixBase<Matrix6xLike3> & dhdot_da);
93 #include "pinocchio/algorithm/centroidal-derivatives.hxx"
95 #endif // ifndef __pinocchio_algorithm_centroidal_derivatives_hpp__