From 0b6399c0d8dbc42263c8bc9b7ebcd13d0508fc75 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Sat, 26 May 2018 22:11:55 +0200
Subject: [PATCH] [Doc] Improve doc of getJointAccelerationDerivatives

---
 src/algorithm/kinematics-derivatives.hpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/algorithm/kinematics-derivatives.hpp b/src/algorithm/kinematics-derivatives.hpp
index c6905ed77..d1b0c3fa5 100644
--- a/src/algorithm/kinematics-derivatives.hpp
+++ b/src/algorithm/kinematics-derivatives.hpp
@@ -1,5 +1,5 @@
 //
-// Copyright (c) 2017 CNRS
+// Copyright (c) 2017-2018 CNRS
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -65,6 +65,7 @@ namespace se3
   /// \brief Computes the partial derivaties of the spatial acceleration of a given with respect to
   ///        the joint configuration, velocity and acceleration.
   ///        You must first call computForwardKinematicsDerivatives before calling this function.
+  ///        It is important to notice that a direct outcome (for free) of this algo is v_partial_dq and v_partial_dv which is equal to a_partial_da.
   ///
   /// \tparam rf Reference frame in which the Jacobian is expressed.
   ///
-- 
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