dynamics_derivatives.h

 
#ifndef SPATIAL_DYN_ALGORITHMS_DYNAMICS_DERIVATIVES_H_
#define SPATIAL_DYN_ALGORITHMS_DYNAMICS_DERIVATIVES_H_
 
#include <map>  // std::map
 
#include "spatial_dyn/eigen/spatial_math.h"
#include "spatial_dyn/structs/articulated_body.h"
#include "spatial_dyn/structs/options.h"
 
namespace spatial_dyn {
 
Eigen::MatrixXd InverseDynamicsPositionDerivative(const ArticulatedBody& ab,
                                                  Eigen::Ref<const Eigen::VectorXd> ddq,
                                                  const std::map<size_t, SpatialForced>& f_external = {},
                                                  const InverseDynamicsOptions& options = { true, true });
 
Eigen::MatrixXd InverseDynamicsVelocityDerivative(const ArticulatedBody& ab,
                                                  Eigen::Ref<const Eigen::VectorXd> ddq,
                                                  const std::map<size_t, SpatialForced>& f_external = {},
                                                  const InverseDynamicsOptions& options = { true, true });
 
}  // namespace spatial_dyn
 
#endif  // SPATIAL_DYN_ALGORITHMS_DYNAMICS_DERIVATIVES_H_