Commit 3606f0be authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[script/robot_wrapper] add momentum function. add vcom and acom to separately...

[script/robot_wrapper] add momentum function. add vcom and acom to separately compute the quantities
parent 89c617ea
......@@ -78,6 +78,22 @@ class RobotWrapper(object):
return se3.centerOfMass(self.model,, q)
def vcom(self, q, v):
se3.centerOfMass(self.model,, q, v)
def acom(self, q, v, a):
se3.centerOfMass(self.model,, q, v, a)
def centroidalMomentum(self, q, v):
se3.ccrba(self.model,, q, v)
def centroidalMomentumVariation(self, q, v, a):
se3.dccrba(self.model,, q, v)
return se3.Force(**v)
def Jcom(self, q):
return se3.jacobianCenterOfMass(self.model,, q)
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