Verified Commit 1d1a5d47 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

algo/frames-der: fix doc

parent 0073216e
......@@ -15,13 +15,15 @@ namespace pinocchio
* You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities.
*
* @tparam JointCollection Collection of Joint types.
* @tparam Matrix6xOut1 Matrix6x containing the partial derivatives with respect to the joint configuration vector.
* @tparam Matrix6xOut2 Matrix6x containing the partial derivatives with respect to the joint velocity vector.
* @tparam Matrix6xOut1 Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.
* @tparam Matrix6xOut2 Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint velocity vector.
*
* @param[in] model The kinematic model
* @param[in] data Data associated to model
* @param[in] frame_id Id of the operational Frame
* @param[in] rf Reference frame in which the velocity is expressed.
* @param[out] v_partial_dq Partial derivative of the joint spatial velocity w.r.t. \f$ q \f$.
* @param[out] v_partial_dv Partial derivative of the joint spatial velociy w.r.t. \f$ \dot{q} \f$.
*
*/
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2>
......
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