5 #ifndef __pinocchio_rnea_hpp__
6 #define __pinocchio_rnea_hpp__
8 #include "pinocchio/multibody/model.hpp"
9 #include "pinocchio/multibody/data.hpp"
29 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2>
31 rnea(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
32 DataTpl<Scalar,Options,JointCollectionTpl> & data,
33 const Eigen::MatrixBase<ConfigVectorType> & q,
34 const Eigen::MatrixBase<TangentVectorType1> & v,
35 const Eigen::MatrixBase<TangentVectorType2> & a);
55 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType1,
typename TangentVectorType2,
typename ForceDerived>
57 rnea(
const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
58 DataTpl<Scalar,Options,JointCollectionTpl> & data,
59 const Eigen::MatrixBase<ConfigVectorType> & q,
60 const Eigen::MatrixBase<TangentVectorType1> & v,
61 const Eigen::MatrixBase<TangentVectorType2> & a,
62 const container::aligned_vector<ForceDerived> & fext);
81 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
84 DataTpl<Scalar,Options,JointCollectionTpl> & data,
85 const Eigen::MatrixBase<ConfigVectorType> & q,
86 const Eigen::MatrixBase<TangentVectorType> & v);
103 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
106 DataTpl<Scalar,Options,JointCollectionTpl> & data,
107 const Eigen::MatrixBase<ConfigVectorType> & q);
126 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType>
129 DataTpl<Scalar,Options,JointCollectionTpl> & data,
130 const Eigen::MatrixBase<ConfigVectorType> & q,
131 const container::aligned_vector< ForceTpl<Scalar,Options> > & fext);
150 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename ConfigVectorType,
typename TangentVectorType>
151 inline const typename DataTpl<Scalar,Options,JointCollectionTpl>::MatrixXs &
153 DataTpl<Scalar,Options,JointCollectionTpl> & data,
154 const Eigen::MatrixBase<ConfigVectorType> & q,
155 const Eigen::MatrixBase<TangentVectorType> & v);
160 #include "pinocchio/algorithm/rnea.hxx"
162 #endif // ifndef __pinocchio_rnea_hpp__