Template Function pinocchio::classicAcceleration(const MotionDense<Motion1>&, const MotionDense<Motion2>&, const Eigen::MatrixBase<Vector3Like>&)
Defined in File classic-acceleration.hpp
Function Documentation
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template<typename Motion1, typename Motion2, typename Vector3Like>
inline void pinocchio::classicAcceleration(const MotionDense<Motion1> &spatial_velocity, const MotionDense<Motion2> &spatial_acceleration, const Eigen::MatrixBase<Vector3Like> &res) Computes the classic acceleration from a given spatial velocity and spatial acceleration.
Remark
To be valid, the spatial velocity and the spatial acceleration have to be expressed at the same Frame.
- Template Parameters:
Motion1 – type of the input spatial velocity.
Motion2 – type of the input spatial acceleration.
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.
res – [out] computed classic acceleration.