Template Function pinocchio::classicAcceleration(const MotionDense<Motion1>&, const MotionDense<Motion2>&, const Eigen::MatrixBase<Vector3Like>&)

Function Documentation

template<typename Motion1, typename Motion2, typename Vector3Like>
inline void pinocchio::classicAcceleration(const MotionDense<Motion1> &spatial_velocity, const MotionDense<Motion2> &spatial_acceleration, const Eigen::MatrixBase<Vector3Like> &res)

Computes the classic acceleration from a given spatial velocity and spatial acceleration.

Remark

To be valid, the spatial velocity and the spatial acceleration have to be expressed at the same Frame.

Template Parameters:
  • Motion1 – type of the input spatial velocity.

  • Motion2 – type of the input spatial acceleration.

  • 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.

  • res[out] computed classic acceleration.