Commit 3dfe2a28 authored by jcarpent's avatar jcarpent
Browse files

[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<SE3> 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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