The WORLD frame convention corresponds to the frame concident with the Universe/Inertial frame but mo...
Refers to the quantities related to the 2nd-order kinematics (joint accelerations, center of mass acceleration, etc.).
ReferenceFrame
List of Reference Frames supported by Pinocchio.
The LOCAL frame convention corresponds to the frame directly attached to the moving part (Joint...
KinematicLevel
List of Kinematics Level supported by Pinocchio.
Refers to the quantities related to the 1st-order kinematics (joint velocities, center of mass veloci...
The LOCAL_WORLD_ALIGNED frame convention corresponds to the frame centered on the moving part (Joint...
Refers to the quantities related to the 0-order kinematics (joint placements, center of mass position...