5 #ifndef __pinocchio_algorithm_frames_derivatives_hpp__
6 #define __pinocchio_algorithm_frames_derivatives_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 Matrix6xOut1,
typename Matrix6xOut2>
32 DataTpl<Scalar,Options,JointCollectionTpl> & data,
33 const FrameIndex frame_id,
34 const ReferenceFrame rf,
35 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
36 const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv);
59 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xOut1,
typename Matrix6xOut2,
typename Matrix6xOut3,
typename Matrix6xOut4>
62 DataTpl<Scalar,Options,JointCollectionTpl> & data,
63 const FrameIndex frame_id,
64 const ReferenceFrame rf,
65 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
66 const Eigen::MatrixBase<Matrix6xOut2> & a_partial_dq,
67 const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dv,
68 const Eigen::MatrixBase<Matrix6xOut4> & a_partial_da);
93 template<
typename Scalar,
int Options,
template<
typename,
int>
class JointCollectionTpl,
typename Matrix6xOut1,
typename Matrix6xOut2,
typename Matrix6xOut3,
typename Matrix6xOut4,
typename Matrix6xOut5>
96 DataTpl<Scalar,Options,JointCollectionTpl> & data,
97 const FrameIndex frame_id,
98 const ReferenceFrame rf,
99 const Eigen::MatrixBase<Matrix6xOut1> & v_partial_dq,
100 const Eigen::MatrixBase<Matrix6xOut2> & v_partial_dv,
101 const Eigen::MatrixBase<Matrix6xOut3> & a_partial_dq,
102 const Eigen::MatrixBase<Matrix6xOut4> & a_partial_dv,
103 const Eigen::MatrixBase<Matrix6xOut5> & a_partial_da);
106 #include "pinocchio/algorithm/frames-derivatives.hxx"
108 #endif // ifndef __pinocchio_algorithm_frames_derivatives_hpp__