Commit 0e96972d by jcarpent

### [Doc] Update doc of computeGeneralizedGravityDerivatives

parent 257ddb54
 ... ... @@ -24,15 +24,17 @@ namespace se3 { /// /// \brief Computes the generalized gravity contribution \f$g(q) \f$ of the Lagrangian dynamics: ///
\f$\begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau \end{eqnarray} \f$

/// \note This function is equivalent to se3::rnea(model, data, q, 0, 0). /// \brief Computes the derivative of the generalized gravity contribution /// with respect to the joint configuration. /// /// \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[out] gravity_partial_dq Partial derivative of the generalized gravity vector with respect to the joint configuration. /// /// \return The bias terms stored in data.g. /// \remark gravity_partial_dq must be first initialized with zeros (gravity_partial_dq.setZero). /// /// \sa se3::computeGeneralizedGravity /// inline void computeGeneralizedGravityDerivatives(const Model & model, Data & data, ... ...
 ... ... @@ -125,16 +125,6 @@ namespace se3 } }; /// /// \brief Computes the generalized gravity contribution \f$g(q) \f$ of the Lagrangian dynamics: ///
\f$\begin{eqnarray} M \ddot{q} + c(q, \dot{q}) + g(q) = \tau \end{eqnarray} \f$

/// \note This function is equivalent to se3::rnea(model, data, q, 0, 0). /// /// \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[out] gravity_partial_dq Partial derivative of the generalized gravity vector with respect to q. /// inline void computeGeneralizedGravityDerivatives(const Model & model, Data & data, const Eigen::VectorXd & q, ... ...
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