Verified Commit 331cb6a3 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

multibody/data: add world expressed Spatial acceleration vectors

parent 5344fbeb
//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2019 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
......@@ -74,15 +74,18 @@ namespace pinocchio
/// encapsulated in JointDataAccessor.
JointDataVector joints;
/// \brief Vector of joint accelerations expressed at the centers of the joints.
/// \brief Vector of joint accelerations expressed at the centers of the joints frames.
container::aligned_vector<Motion> a;
/// \brief Vector of joint accelerations expressed at the origin.
/// \brief Vector of joint accelerations expressed at the origin of the world.
container::aligned_vector<Motion> oa;
/// \brief Vector of joint accelerations due to the gravity field.
container::aligned_vector<Motion> a_gf;
/// \brief Vector of joint accelerations expressed at the origin of the world including gravity contribution.
container::aligned_vector<Motion> oa_gf;
/// \brief Vector of joint velocities expressed at the centers of the joints.
container::aligned_vector<Motion> v;
......
//
// Copyright (c) 2015-2018 CNRS
// Copyright (c) 2015-2019 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
......@@ -26,6 +26,7 @@ namespace pinocchio
, a((std::size_t)model.njoints)
, oa((std::size_t)model.njoints)
, a_gf((std::size_t)model.njoints)
, oa_gf((std::size_t)model.njoints)
, v((std::size_t)model.njoints)
, ov((std::size_t)model.njoints)
, f((std::size_t)model.njoints)
......
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