Template Function pinocchio::getAcceleration

• Defined in File kinematics.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline MotionTpl<Scalar, Options> pinocchio::getAcceleration(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex jointId, const ReferenceFrame rf = LOCAL)

Returns the spatial acceleration of the joint expressed in the desired reference frame. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.

Warning

Second order forwardKinematics should have been called first

Parameters:

• model – [in] The kinematic model

• data – [in] Data associated to model

• jointId – [in] Id of the joint

• rf – [in] Reference frame in which the acceleration is expressed.

Returns:

The spatial acceleration of the joint expressed in the desired reference frame.