Template Function pinocchio::getClassicalAcceleration

Function Documentation

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

Returns the “classical” acceleration of the joint expressed in the desired reference frame. This is different from the “spatial” acceleration in that centrifugal effects are accounted for. 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 classic acceleration of the joint expressed in the desired reference frame.