getFrameKinematicHessian

[Cfather]

Hi,

I wonder if there is a getFrameKinematicHessian that computes the hessian tensor of a frame kinematics (an additional SE3 placement with respect to a specific joint), that is similar to the existing function getJointKinematicHessian?
I found functions like getFrameJacobianTimeDerivative or getFrameAcceleration but I'm not sure if this is the same as what I want here.

Thanks!

[jcarpent]

I wonder if there is a getFrameKinematicHessian that computes the hessian tensor of a frame kinematics (an additional SE3 placement with respect to a specific joint), that is similar to the existing function getJointKinematicHessian?

Yes, it is the same algorithm behind, except that Frame takes into account a relative placement wrt a joint frame.

[Cfather]

Thanks for your reply! Is there an existing implementation around already in pinocchio? Or it's not that hard to implement if we just consider the relative placement? I can try submit a pull request about this if it's not there in pinocchio yet.

[jcarpent]

I found functions like getFrameJacobianTimeDerivative or getFrameAcceleration but I'm not sure if this is the same as what I want here.

Have you looked to the document of these two functions?

[Cfather]

Yes, I have. But I would say whatI want is the hessian of the frame kinematics, which should be a 6 x model.nv x model.nv tensor.
These two functions compute the hessian implicitly. As a result, they are not directly what I want.