Template Function pinocchio::getFrameAcceleration

Function Documentation

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

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

Remark

In the context of a frame placement constraint \(J(q) a + \dot{J}(q, v) v = 0\), one way to compute the second term \(\dot{J}(q, v) v\) is to call second-order forwardKinematics with a zero acceleration, then read the remaining \(\dot{J}(q, v) v\) by calling this function. This is significantly more efficient than applying the matrix \(\dot{J}(q, v)\) (from getFrameJacobianTimeVariation) to the velocity vector \(v\).

Warning

Second order forwardKinematics should have been called first

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 acceleration is expressed.

Returns:

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