Template Function pinocchio::getFrameAcceleration(const ModelTpl<Scalar, Options, JointCollectionTpl>&, const DataTpl<Scalar, Options, JointCollectionTpl>&, const JointIndex, const SE3Tpl<Scalar, Options>&, const ReferenceFrame)

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
inline MotionTpl<Scalar, Options> pinocchio::getFrameAcceleration(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 spatial acceleration of the Frame expressed in the desired reference frame. 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 spatial acceleration of the Frame expressed in the desired reference frame.