Commit 2eefe10d authored by jcarpent's avatar jcarpent Committed by Andrea Del Prete
Browse files

[Robot] Add missing evaluation of the center of mass acceleration provided zero joint acceleration

parent 9867a281
......@@ -73,6 +73,7 @@ namespace tsid
// computeAllTerms does not compute the com acceleration, so we need to call centerOfMass
se3::centerOfMass<true,true,true>(m_model, data, false);
se3::framesForwardKinematics(m_model, data);
se3::centerOfMass(m_model, data, q, v, Eigen::VectorXd::Zero(nv()));
}
const Vector & RobotWrapper::rotor_inertias() const
......
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