add option 2

include/pinocchio/algorithm/rnea.hpp

@@ -80,43 +80,6 @@ namespace pinocchio
     const Eigen::MatrixBase<TangentVectorType2> & a,
     const container::aligned_vector<ForceDerived> & fext);
 
-  ///
-  /// \brief The passivity-based Recursive Newton-Euler algorithm. It computes a modified inverse dynamics, aka the joint
-  /// torques according to the current state of the system and the auxiliary joint velocities and accelerations.
-  /// To be more specific, it computes H(q) * a_r + C(q, v) * v_r + g(q)
-  ///
-  /// \tparam JointCollection Collection of Joint types.
-  /// \tparam ConfigVectorType Type of the joint configuration vector.
-  /// \tparam TangentVectorType1 Type of the joint velocity vector.
-  /// \tparam TangentVectorType2 Type of the auxiliary joint velocity vector.
-  /// \tparam TangentVectorType3 Type of the auxiliary joint acceleration vector.
-  ///
-  /// \param[in] model The model structure of the rigid body system.
-  /// \param[in] data The data structure of the rigid body system.
-  /// \param[in] q The joint configuration vector (dim model.nq).
-  /// \param[in] v The joint velocity vector (dim model.nv).
-  /// \param[in] v_r The auxiliary joint velocity vector (dim model.nv).
-  /// \param[in] a_r The auxiliary joint acceleration vector (dim model.nv).
-  ///
-  /// \return The desired joint torques stored in data.tau.
-  ///
-  template<
-    typename Scalar,
-    int Options,
-    template<typename, int>
-    class JointCollectionTpl,
-    typename ConfigVectorType,
-    typename TangentVectorType1,
-    typename TangentVectorType2,
-    typename TangentVectorType3>
-  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & passivityRNEA(
-    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
-    DataTpl<Scalar, Options, JointCollectionTpl> & data,
-    const Eigen::MatrixBase<ConfigVectorType> & q,
-    const Eigen::MatrixBase<TangentVectorType1> & v,
-    const Eigen::MatrixBase<TangentVectorType2> & v_r,
-    const Eigen::MatrixBase<TangentVectorType3> & a_r);
-
   ///
   /// \brief Computes the non-linear effects (Corriolis, centrifual and gravitationnal effects),
   /// also called the bias terms \f$ b(q,\dot{q}) \f$ of the Lagrangian dynamics: <CENTER> \f$
@@ -258,6 +221,43 @@ namespace pinocchio
     const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
     DataTpl<Scalar, Options, JointCollectionTpl> & data);
 
+  ///
+  /// \brief The passivity-based Recursive Newton-Euler algorithm. It computes a modified inverse dynamics, aka the joint
+  /// torques according to the current state of the system and the auxiliary joint velocities and accelerations.
+  /// To be more specific, it computes H(q) * a_r + C(q, v) * v_r + g(q)
+  ///
+  /// \tparam JointCollection Collection of Joint types.
+  /// \tparam ConfigVectorType Type of the joint configuration vector.
+  /// \tparam TangentVectorType1 Type of the joint velocity vector.
+  /// \tparam TangentVectorType2 Type of the auxiliary joint velocity vector.
+  /// \tparam TangentVectorType3 Type of the auxiliary joint acceleration vector.
+  ///
+  /// \param[in] model The model structure of the rigid body system.
+  /// \param[in] data The data structure of the rigid body system.
+  /// \param[in] q The joint configuration vector (dim model.nq).
+  /// \param[in] v The joint velocity vector (dim model.nv).
+  /// \param[in] v_r The auxiliary joint velocity vector (dim model.nv).
+  /// \param[in] a_r The auxiliary joint acceleration vector (dim model.nv).
+  ///
+  /// \return The desired joint torques stored in data.tau.
+  ///
+  template<
+    typename Scalar,
+    int Options,
+    template<typename, int>
+    class JointCollectionTpl,
+    typename ConfigVectorType,
+    typename TangentVectorType1,
+    typename TangentVectorType2,
+    typename TangentVectorType3>
+  const typename DataTpl<Scalar, Options, JointCollectionTpl>::TangentVectorType & passivityRNEA(
+    const ModelTpl<Scalar, Options, JointCollectionTpl> & model,
+    DataTpl<Scalar, Options, JointCollectionTpl> & data,
+    const Eigen::MatrixBase<ConfigVectorType> & q,
+    const Eigen::MatrixBase<TangentVectorType1> & v,
+    const Eigen::MatrixBase<TangentVectorType2> & v_r,
+    const Eigen::MatrixBase<TangentVectorType3> & a_r);
+
 } // namespace pinocchio
 
 /* --- Details -------------------------------------------------------------------- */