Template Function pinocchio::classicAcceleration(const MotionDense<Motion1>&, const MotionDense<Motion2>&, const SE3Tpl<SE3Scalar, SE3Options>&, const Eigen::MatrixBase<Vector3Like>&)

Function Documentation

template<typename Motion1, typename Motion2, typename SE3Scalar, int SE3Options, typename Vector3Like>
inline void pinocchio::classicAcceleration(const MotionDense<Motion1> &spatial_velocity, const MotionDense<Motion2> &spatial_acceleration, const SE3Tpl<SE3Scalar, SE3Options> &placement, const Eigen::MatrixBase<Vector3Like> &res)

Computes the classic acceleration of a given frame B knowing the spatial velocity and spatial acceleration of a frame A and the relative placement between these two frames.

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

  • Motion2 – type of the input spatial acceleration.

  • SE3Scalar – Scalar type of the SE3 object.

  • SE3Options – Options of the SE3 object.

  • 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.

  • placement[in] relative placement betwen the frame A and the frame B.

  • res[out] computed classic acceleration.