Template Function pinocchio::classicAcceleration(const MotionDense<Motion1>&, const MotionDense<Motion2>&, const SE3Tpl<SE3Scalar, SE3Options>&, const Eigen::MatrixBase<Vector3Like>&)
Defined in File classic-acceleration.hpp
Function Documentation
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template<typename Motion1, typename Motion2, typename SE3Scalar, int SE3Options, typename Vector3Like>
inline void pinocchio::classicAcceleration(const MotionDense<Motion1> &spatial_velocity, const MotionDense<Motion2> &spatial_acceleration, const SE3Tpl<SE3Scalar, SE3Options> &placement, const Eigen::MatrixBase<Vector3Like> &res) Computes the classic acceleration of a given frame B knowing the spatial velocity and spatial acceleration of a frame A and the relative placement between these two frames.
- Template Parameters:
Motion1 – type of the input spatial velocity.
Motion2 – type of the input spatial acceleration.
SE3Scalar – Scalar type of the SE3 object.
SE3Options – Options of the SE3 object.
Vector3Like – type of the return type (a type similar to a 3D vector).
- Parameters:
spatial_velocity – [in] input spatial velocity.
spatial_acceleration – [in] input spatial acceleration.
placement – [in] relative placement betwen the frame A and the frame B.
res – [out] computed classic acceleration.