FA.h

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/*
 * Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
// includes
// SpaceVecAlg
#include <rbdyn/config.hh>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
namespace rbd
{
class MultiBody;
struct MultiBodyConfig;
 
RBDYN_DLLAPI void forwardAcceleration(const MultiBody & mb,
                                      MultiBodyConfig & mbc,
                                      const sva::MotionVecd & A_0 = sva::MotionVecd(Eigen::Vector6d::Zero()));
 
RBDYN_DLLAPI void sForwardAcceleration(const MultiBody & mb,
                                       MultiBodyConfig & mbc,
                                       const sva::MotionVecd & A_0 = sva::MotionVecd(Eigen::Vector6d::Zero()));
 
} // namespace rbd