Template Function pinocchio::getPointClassicAccelerationDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const Model::JointIndex, const SE3Tpl<Scalar, Options>&, const ReferenceFrame, const Eigen::MatrixBase<Matrix3xOut1>&, const Eigen::MatrixBase<Matrix3xOut2>&, const Eigen::MatrixBase<Matrix3xOut3>&, const Eigen::MatrixBase<Matrix3xOut4>&)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, typename Matrix3xOut4>
void pinocchio::getPointClassicAccelerationDerivatives(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const Model::JointIndex joint_id, const SE3Tpl<Scalar, Options> &placement, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix3xOut1> &v_point_partial_dq, const Eigen::MatrixBase<Matrix3xOut2> &a_point_partial_dq, const Eigen::MatrixBase<Matrix3xOut3> &a_point_partial_dv, const Eigen::MatrixBase<Matrix3xOut4> &a_point_partial_da)

Computes the partial derivatives of the classic acceleration of a point given by its placement information w.r.t. the joint frame. You must first call computForwardKinematicsDerivatives before calling this function. It is important to notice that a direct outcome (for free) of this algo is v_point_partial_dq. v_point_partial_dv is not computed it is equal to a_point_partial_da.

Template Parameters:
  • JointCollection – Collection of Joint types.

  • Matrix3xOut1 – Matrix3x containing the partial derivatives of the spatial velocity with respect to the joint configuration vector.

  • Matrix3xOut2 – Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint configuration vector.

  • Matrix3xOut3 – Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint velocity vector.

  • Matrix3xOut4 – Matrix3x containing the partial derivatives of the spatial acceleration with respect to the joint acceleration vector.

Parameters:
  • model[in] The model structure of the rigid body system.

  • data[in] The data structure of the rigid body system.

  • joint_id[in] Index of the joint in model.

  • placement[in] Relative placement of the point w.r.t. the joint frame.

  • rf[in] Reference frame in which the Jacobian is expressed (either LOCAL or LOCAL_WORLD_ALIGNED).

  • v_point_partial_dq[out] Partial derivative of the point velocity w.r.t. q.

  • a_point_partial_dq[out] Partial derivative of the point classic acceleration w.r.t. q.

  • a_point_partial_dv[out] Partial derivative of the point classic acceleration w.r.t. v.

  • a_point_partial_da[out] Partial derivative of the point classic acceleration w.r.t. v˙.