\page md_doc_a-features_f-kinematic Kinematics algorithms

Forward kinematics

Pinocchio implements direct kinematic computations up to the second order. When a robot configuration is given, a forward pass is performed to compute the spatial placements of each joint and to store them as coordinate transformations. If the velocity is given, it also computes the spatial velocities of each joint (expressed in local frame), and similarly for accelerations.

Kinematic Jacobian

The spatial Jacobian of each joint can be easily computed with a single forward pass, either expressed locally or in the world frame.