* @brief Returns the spatial velocity of the frame expressed in the LOCAL frame coordinate system.
* You must first call se3::forwardKinematics to update placement and velocity values in data structure.
*
* @param[in] model The kinematic model
* @param[in] data Data associated to model
* @param[in] frame_id Id of the operational Frame
* @param[out] frame_v The spatial velocity of the Frame expressed in the coordinates Frame.
*
* @warning Fist or second order forwardKinematics should have been called first
*/
voidgetFrameVelocity(constModel&model,
constData&data,
constModel::FrameIndexframe_id,
Motion&frame_v);
/**
* @brief Returns the spatial acceleration of the frame expressed in the LOCAL frame coordinate system.
* You must first call se3::forwardKinematics to update placement values in data structure.
*
* @param[in] model The kinematic model
* @param[in] data Data associated to model
* @param[in] frame_id Id of the operational Frame
* @param[out] frame_a The spatial acceleration of the Frame expressed in the coordinates Frame.
*
* @warning Second order forwardKinematics should have been called first
*/
voidgetFrameAcceleration(constModel&model,
constData&data,
constModel::FrameIndexframe_id,
Motion&frame_a);
/**
* @brief Returns the jacobian of the frame expressed either in the LOCAL frame coordinate system or in the WORLD coordinate system,
* depending on the value of the template parameter rf.
* You must first call se3::computeJointJacobians followed by se3::framesForwardKinematics to update placement values in data structure.
*
* @tparam rf Reference frame in which the columns of the Jacobian are expressed.
*
* @remark Similarly to se3::getJointJacobian with LOCAL or WORLD templated parameters, if rf == LOCAL, this function returns the Jacobian of the frame expressed
* in the local coordinates of the frame, or if rl == WORDL, it returns the Jacobian expressed of the point coincident with the origin
* in the local coordinates of the frame, or if rl == WORLD, it returns the Jacobian expressed of the point coincident with the origin
* and expressed in a coordinate system aligned with the WORLD.
*
* @param[in] model The kinematic model
...
...
@@ -63,7 +111,7 @@ namespace se3
* @param[in] frame_id Id of the operational Frame
* @param[out] J The Jacobian of the Frame expressed in the coordinates Frame.
*
* @warning The function se3::computeJointJacobians and se3::framesForwardKinematics should have been called first.
* @warning The functions se3::computeJointJacobians and se3::framesForwardKinematics should have been called first.