From befd5700136cd9a12646e665dced5dedd5111298 Mon Sep 17 00:00:00 2001
From: Davide Risi <davide.risi@iit.it>
Date: Mon, 23 Mar 2026 11:28:59 +0100
Subject: [PATCH] [ADD] add virtual methods for base acceleration and Jacobian
 computations in RobotBase class

---
 include/robotlib/robot_base.hpp | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/include/robotlib/robot_base.hpp b/include/robotlib/robot_base.hpp
index 579f053..875c09c 100644
--- a/include/robotlib/robot_base.hpp
+++ b/include/robotlib/robot_base.hpp
@@ -621,6 +621,32 @@ namespace robotlib
                                 const robotlib::eigen::aligned_map<std::string, Eigen::Vector3d> &f_contact,
                                 robotlib::JointState &tau_joints) = 0;
 
+        /**
+         * @brief Get base acceleration.
+         */
+        virtual void getBaseAcceleration(const robotlib::JointState &,
+                                         const robotlib::JointState &,
+                                         const robotlib::JointState &,
+                                         Eigen::Matrix<double, 6, 1> &) {
+          throw std::runtime_error("getBaseAcceleration not implemented");
+        }
+
+        /**
+         * @brief Get Joint Jacobian Time Variation.
+         */
+        virtual void getJointJacobianTimeVariation(const Eigen::Matrix<double, 6, 1> &,
+                                                   const robotlib::JointState &,
+                                                   const robotlib::JointState &,
+                                                   const std::string &,
+                                                   Eigen::MatrixXd &) {
+          throw std::runtime_error("getJointJacobianTimeVariation not implemented");
+        }
+
+        virtual void computeBaseJacobian(const robotlib::JointState &, Eigen::MatrixXd &)
+        {
+          throw std::runtime_error("computeBaseJacobian not implemented");
+        }
+
         // ** SET FUNCTIONS **
         // template <class T>
         // T& getLimbData(const LimbPtr limb, Eigen::Matrix<T, Eigen::Dynamic, 1>& data_vector);