How to use

getSuccessorAcceleration

method

in

us.ihmc.robotics.screwTheory.InverseDynamicsJoint

private void computeSuccessorAcceleration(InverseDynamicsJoint joint)
{
 RigidBody predecessor = joint.getPredecessor();
 RigidBody successor = joint.getSuccessor();
 ReferenceFrame successorFrame = successor.getBodyFixedFrame();
 joint.getPredecessorTwist(tempJointTwist);
 if (!doVelocityTerms)
   tempJointTwist.setToZero();
 if (useDesireds)
   joint.getDesiredSuccessorAcceleration(tempJointAcceleration);
 else
   joint.getSuccessorAcceleration(tempJointAcceleration);
 if (!doAccelerationTerms)
   tempJointAcceleration.setToZero();
 twistCalculator.getTwistOfBody(tempTwistFromWorld, predecessor);
 if (!doVelocityTerms)
   tempTwistFromWorld.setToZero();
 SpatialAccelerationVector successorAcceleration = accelerations.get(successor);
 successorAcceleration.set(accelerations.get(predecessor));
 successorAcceleration.changeFrame(successorFrame, tempJointTwist, tempTwistFromWorld);
 successorAcceleration.add(tempJointAcceleration);
}