Template Function pinocchio::getFrameAccelerationDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const FrameIndex, const ReferenceFrame, const Eigen::MatrixBase<Matrix6xOut1>&, const Eigen::MatrixBase<Matrix6xOut2>&, const Eigen::MatrixBase<Matrix6xOut3>&, const Eigen::MatrixBase<Matrix6xOut4>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xOut1, typename Matrix6xOut2, typename Matrix6xOut3, typename Matrix6xOut4>
void pinocchio::getFrameAccelerationDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix6xOut2> &a_partial_dq, const Eigen::MatrixBase<Matrix6xOut3> &a_partial_dv, const Eigen::MatrixBase<Matrix6xOut4> &a_partial_da)

Computes the partial derivatives of the frame acceleration quantity with respect to q, v and a. You must first call pinocchio::computeForwardKinematicsDerivatives to compute all the required quantities. It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.

Template Parameters:

  • JointCollection – Collection of Joint types.

  • Matrix6xOut1 – Matrix6x containing the partial derivatives of the frame spatial velocity with respect to the joint configuration vector.

  • Matrix6xOut2 – Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint configuration vector.

  • Matrix6xOut3 – Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint velocity vector.

  • Matrix6xOut4 – Matrix6x containing the partial derivatives of the frame spatial acceleration with respect to the joint acceleration vector.

Parameters:

  • model – [in] The kinematic model

  • data – [in] Data associated to model

  • frame_id – [in] Id of the operational Frame

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

  • v_partial_dq – [out] Partial derivative of the joint spatial velocity w.r.t. \( q \).

  • a_partial_dq – [out] Partial derivative of the joint spatial acceleration w.r.t. \( q \).

  • a_partial_dq – [out] Partial derivative of the joint spatial acceleration w.r.t. \( \dot{q} \).

  • a_partial_dq – [out] Partial derivative of the joint spatial acceleration w.r.t. \( \ddot{q} \).