Eigen::VectorXdD;// Diagonal of UDUT inertia decomposition
Eigen::VectorXdtmp;// Temporary of size NV used in Cholesky
std::vector<int>parents_fromRow;// First previous non-zero row in M (used in Cholesky)
std::vector<int>nvSubtree_fromRow;//
/// \brief Joint space intertia matrix square root (upper trianglular part) computed with a Cholesky Decomposition.
Eigen::MatrixXdU;
/// \brief Diagonal of the joint space intertia matrix obtained by a Cholesky Decomposition.
Eigen::VectorXdD;
/// \brief Temporary of size NV used in Cholesky Decomposition.
Eigen::VectorXdtmp;
/// \brief First previous non-zero row in M (used in Cholesky Decomposition).
std::vector<int>parents_fromRow;
/// \brief Subtree of the current row index (used in Cholesky Decomposition).
std::vector<int>nvSubtree_fromRow;
/// \brief Jacobian of joint placements.
/// \note The columns of J corresponds to the basis of the spatial velocities of each joint and expressed at the origin of the inertial frame. In other words, if \f$ v_{J_{i}} = S_{i} \dot{q}_{i}\f$ is the relative velocity of the joint i regarding to its parent, then \f$J = \begin{bmatrix} ^{0}X_{1} S_{1} & \cdots & ^{0}X_{i} S_{i} & \cdots & ^{0}X_{\text{nj}} S_{\text{nj}} \end{bmatrix} \f$. This Jacobian has no special meaning. To get the jacobian of a precise joint, you need to call se3::getJacobian
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@@ -234,18 +456,27 @@ namespace se3
/// \note This Jacobian maps the joint velocity vector to the velocity of the center of mass, expressed in the inertia frame. In other words, \f$ v_{\text{CoM}} = J_{\text{CoM}} \dot{q}\f$.
Matrix3xJcom;
Eigen::VectorXdeffortLimit;// Joint max effort
Eigen::VectorXdvelocityLimit;// Joint max velocity
/// \brief Vector of maximal joint torques
Eigen::VectorXdeffortLimit;
/// \brief Vector of maximal joint velocities
Eigen::VectorXdvelocityLimit;
Eigen::VectorXdlowerPositionLimit;// limit for joint lower position
Eigen::VectorXdupperPositionLimit;// limit for joint upper position
/// \brief Lower joint configuration limit
Eigen::VectorXdlowerPositionLimit;
/// \brief Upper joint configuration limit
Eigen::VectorXdupperPositionLimit;
doublekinetic_energy;// kinetic energy of the model
doublepotential_energy;// potential energy of the model
/// \brief Kinetic energy of the model.
doublekinetic_energy;
/// \brief Potential energy of the model.
doublepotential_energy;
///
/// \brief Default constructor of se3::Data from a se3::Model.
///
/// \param[in] model The model structure of the rigid body system.
