Template Function pinocchio::getFrameClassicalAcceleration(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const SE3Tpl<Scalar, Options>&, const ReferenceFrame)
Defined in File frames.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline MotionTpl<Scalar, Options> pinocchio::getFrameClassicalAcceleration(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, const JointIndex joint_id, const SE3Tpl<Scalar, Options> &placement, const ReferenceFrame rf = LOCAL) Returns the “classical” acceleration of the Frame expressed in the desired reference frame. This is different from the “spatial” acceleration in that centrifugal effects are accounted for. You must first call pinocchio::forwardKinematics to update placement, velocity and acceleration values in data structure.
Warning
Second order forwardKinematics should have been called first
- Parameters:
model – [in] The kinematic model
data – [in] Data associated to model
joint_id – [in] Id of the parent joint
placement – [in] frame placement with respect to the parent joint
rf – [in] Reference frame in which the acceleration is expressed.
- Returns:
The classical acceleration of the Frame expressed in the desired reference frame.