Template Function pinocchio::getFrameClassicalAcceleration(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::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.