"Computes the centroidal mapping, the centroidal momentum and the Centroidal Composite Rigid Body Inertia, puts the result in Data and returns the centroidal mapping.",
bp::return_value_policy<bp::return_by_value>());
bp::def("dccrba",dccrba,
bp::args("Model","Data",
"Joint configuration q (size Model::nq)",
"Joint velocity v (size Model::nv)"),
"Computes the time derivative of the centroidal momentum matrix Ag in terms of q and v. It computes also the same information than ccrtba for the same price.",
/// \brief Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint.
container::aligned_vector<Inertia>Ycrb;
/// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}$\f. See Data::Ycrb for more details.
container::aligned_vector<Inertia::Matrix6>dYcrb;// TODO: change with dense symmetric matrix6
/// \brief The joint space inertia matrix (a square matrix of dim model.nv).
Eigen::MatrixXdM;
...
...
@@ -410,18 +413,23 @@ namespace se3
// ABA internal data
/// \brief Inertia matrix of the subtree expressed as dense matrix [ABA]
container::aligned_vector<Inertia::Matrix6>Yaba;
container::aligned_vector<Inertia::Matrix6>Yaba;// TODO: change with dense symmetric matrix6
/// \brief Intermediate quantity corresponding to apparent torque [ABA]
Eigen::VectorXdu;// Joint Inertia
// CCRBA return quantities
/// \brief Centroidal Momentum Matrix
/// \note \f$ hg = Ag \dot{q}\f$ maps the joint velocity set to the centroidal momentum.
/// \note \f$ hg = A_g \dot{q}\f$ maps the joint velocity set to the centroidal momentum.
Matrix6xAg;
// dCCRBA return quantities
/// \brief Centroidal Momentum Matrix Time Variation
/// \note \f$ \dot{h_g} = A_g \ddot{q}\ + \dot{A_g}\dot{q}f$ maps the joint velocity and acceleration vectors to the time variation of the centroidal momentum.
Matrix6xdAg;
/// \brief Centroidal momentum quantity.
/// \note The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame.
/// \note The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame).