{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/idyntree/issues/482","repository_url":"https://api.github.com/repos/robotology/idyntree","labels_url":"https://api.github.com/repos/robotology/idyntree/issues/482/labels{/name}","comments_url":"https://api.github.com/repos/robotology/idyntree/issues/482/comments","events_url":"https://api.github.com/repos/robotology/idyntree/issues/482/events","html_url":"https://github.com/robotology/idyntree/pull/482","id":359507248,"node_id":"MDExOlB1bGxSZXF1ZXN0MjE0OTgyMjM1","number":482,"title":"Fix KinDynComputations::getFrameBiasAcc","user":{"login":"traversaro","id":1857049,"node_id":"MDQ6VXNlcjE4NTcwNDk=","avatar_url":"https://avatars2.githubusercontent.com/u/1857049?v=4","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":7,"created_at":"2018-09-12T14:27:45Z","updated_at":"2018-09-12T19:11:46Z","closed_at":null,"author_association":"MEMBER","pull_request":{"url":"https://api.github.com/repos/robotology/idyntree/pulls/482","html_url":"https://github.com/robotology/idyntree/pull/482","diff_url":"https://github.com/robotology/idyntree/pull/482.diff","patch_url":"https://github.com/robotology/idyntree/pull/482.patch"},"body":"Bug Fixes\r\n---------\r\n* Fixed cache invalidation bug in the getFrameBiasAcc method of KinDynComputations. The internal\r\n  cache used by getBiasAcc was never updated even if the method setRobotState was called, so the\r\n  getFrameBiasAcc method always returned the bias acceleration corresponding to the first call to setRobotState.\r\n* Fixed getBiasAcc method in KinDynComputations to take into account the effect of non-zero and non-parallel\r\n  linear and angular base velocity, described in https://github.com/robotology/idyntree/issues/370 .\r\n\r\nNew features\r\n------------\r\n* The getFrameAcc method that returns the acceleration of a frame was added to the KinDynComputations class.\r\n  As this method takes in input every time the robot acceleration, it is computationally expensive and\r\n  is not suitable to be used for multiple frames in a tight loop. If you need a computationally convenient\r\n  method to access frame accelerations, please open an issue.\r\n* It is now possible to specify a non-zero bias base acceleration as input of the ForwardBiasAccKinematics function.\r\n  This is convenient if the bias acceleration that is being computed is the bias acceleration obtained with the\r\n  MIXED velocity representation."},"comment":{"url":"https://api.github.com/repos/robotology/idyntree/issues/comments/420764340","html_url":"https://github.com/robotology/idyntree/pull/482#issuecomment-420764340","issue_url":"https://api.github.com/repos/robotology/idyntree/issues/482","id":420764340,"node_id":"MDEyOklzc3VlQ29tbWVudDQyMDc2NDM0MA==","user":{"login":"traversaro","id":1857049,"node_id":"MDQ6VXNlcjE4NTcwNDk=","avatar_url":"https://avatars2.githubusercontent.com/u/1857049?v=4","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"created_at":"2018-09-12T19:11:46Z","updated_at":"2018-09-12T19:11:46Z","author_association":"MEMBER","body":"Thanks @S-Dafarra ! "}}
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