pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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center-of-mass-derivatives.hpp
1//
2// Copyright (c) 2019 CNRS
3//
4
5#pragma once
6
7// IWYU pragma: begin_keep
8#include <Eigen/Core>
9
10#include <cassert>
11#include <vector>
12
13#include <boost/fusion/container/vector.hpp>
14//
15#include "pinocchio/macros.hpp"
16#include "pinocchio/eigen-common.hpp"
17//
18#include "pinocchio/math.hpp"
19
20#include "pinocchio/spatial.hpp"
21
22#include "pinocchio/multibody.hpp"
23#include "pinocchio/multibody/joint.hpp"
24#include "pinocchio/multibody/visitor.hpp"
25
26#include "pinocchio/algorithm/check.hpp"
27// IWYU pragma: end_keep
28
29namespace pinocchio
30{
45 template<
46 typename Scalar,
47 int Options,
48 template<typename, int> class JointCollectionTpl,
49 typename Matrix3xOut>
50 void getCenterOfMassVelocityDerivatives(
51 const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
52 DataTpl<Scalar, Options, JointCollectionTpl> & data,
53 const Eigen::MatrixBase<Matrix3xOut> & vcom_partial_dq);
54
55} // namespace pinocchio
56
57// IWYU pragma: begin_exports
58#include "pinocchio/src/algorithm/center-of-mass-derivatives.hxx"
59// IWYU pragma: end_exports
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::getCenterOfMassVelocityDerivatives
void getCenterOfMassVelocityDerivatives(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< Matrix3xOut > &vcom_partial_dq)
Computes the partial derivatie of the center-of-mass velocity with respect to the joint configuration...