Commit 6247ed5e authored by jcarpent's avatar jcarpent
Browse files

[Data] Add partial derivatives of ABA inside Data

parent 0de27a24
......@@ -546,6 +546,12 @@ namespace se3
/// \brief Partial derivative of the joint torque vector with respect to the joint velocity.
Eigen::MatrixXd dtau_dv;
/// \brief Partial derivative of the joint acceleration vector with respect to the joint configuration.
Eigen::MatrixXd ddq_dq;
/// \brief Partial derivative of the joint acceleration vector with respect to the joint velocity.
Eigen::MatrixXd ddq_dv;
/// \brief Vector of joint placements wrt to algorithm end effector.
container::aligned_vector<SE3> iMf;
......
......@@ -290,6 +290,8 @@ namespace se3
,dAdv(6,model.nv)
,dtau_dq(Eigen::MatrixXd::Zero(model.nv,model.nv))
,dtau_dv(Eigen::MatrixXd::Zero(model.nv,model.nv))
,ddq_dq(Eigen::MatrixXd::Zero(model.nv,model.nv))
,ddq_dv(Eigen::MatrixXd::Zero(model.nv,model.nv))
,iMf((std::size_t)model.njoints)
,com((std::size_t)model.njoints)
,vcom((std::size_t)model.njoints)
......
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