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Gabriele Buondonno
pinocchio
Commits
e46cc889
Commit
e46cc889
authored
Sep 26, 2017
by
jcarpent
Browse files
[Doc] Minor correction of the doc for ccrba
parent
a261b5b8
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2
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src/algorithm/crba.hpp
View file @
e46cc889
...
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@@ -43,6 +43,24 @@ namespace se3
Data
&
data
,
const
Eigen
::
VectorXd
&
q
);
///
/// \brief Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta
/// according to the current joint configuration and velocity.
///
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
/// \param[in] q The joint configuration vector (dim model.nq).
/// \param[in] v The joint velocity vector (dim model.nv).
///
/// \return The Centroidal Momentum Matrix Ag.
///
inline
const
Data
::
Matrix6x
&
ccrba
(
const
Model
&
model
,
Data
&
data
,
const
Eigen
::
VectorXd
&
q
,
const
Eigen
::
VectorXd
&
v
);
///
/// \brief Computes the upper triangular part of the joint space inertia matrix M by
/// using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008).
...
...
src/multibody/model.hpp
View file @
e46cc889
...
...
@@ -417,11 +417,11 @@ namespace se3
// 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.
Matrix6x
Ag
;
/// \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)
.
///
Force
hg
;
...
...
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