fullJacobian.hpp

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <array>
#include <Eigen/Core>

namespace ct_HyA {

Eigen::Matrix<double, 12 + 6, 6> computeFullJacobianCodegen(const Eigen::Matrix<double, 12, 1>& state,
    const Eigen::Matrix<double, 6, 1>& tau);
}