### [Model] Introduce the generalized gravity vector

parent 75c40552
 ... ... @@ -385,10 +385,15 @@ namespace se3 /// \brief Vector of joint torques (dim model.nv). Eigen::VectorXd tau; /// \brief Vector of Non Linear Effects (dim model.nv). It corresponds to the Coriolis, centrifugal and gravitational effects. /// \note In the equation \f$M\ddot{q} + b = \tau \f$, /// the non linear effects are associated to the \f$b\f$ term. /// \brief Vector of Non Linear Effects (dim model.nv). It corresponds to concatenation of the Coriolis, centrifugal and gravitational effects. /// \note In the multibody dynamics equation \f$M\ddot{q} + b(q, \dot{q}) = \tau \f$, /// the non linear effects are associated to the term \f$b\f$. Eigen::VectorXd nle; /// \brief Vector of generalized gravity (dim model.nv). /// \note In the multibody dynamics equation \f$M\ddot{q} + c(q, \dot{q}) + g(q) = \tau \f$, /// the gravity effect is associated to the \f$g\f$ term. Eigen::VectorXd g; /// \brief Vector of absolute operationnel frame placements (wrt the world). container::aligned_vector oMf; ... ...
 ... ... @@ -242,6 +242,7 @@ namespace se3 ,liMi((std::size_t)model.njoints) ,tau(model.nv) ,nle(model.nv) ,g(model.nv) ,oMf((std::size_t)model.nframes) ,Ycrb((std::size_t)model.njoints) ,dYcrb((std::size_t)model.njoints) ... ...
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