Commit 84a4f1a9 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[multibody] [data] Add jointTorqueRegressor

parent 7af114e3
......@@ -325,8 +325,11 @@ namespace pinocchio
/// \brief Lagrange Multipliers corresponding to the contact impulses in pinocchio::impulseDynamics.
VectorXs impulse_c;
// data related to regressor
// data related to static regressor
Matrix3x staticRegressor;
// data related to joint torque regressor
MatrixXs jointTorqueRegressor;
///
/// \brief Default constructor of pinocchio::Data from a pinocchio::Model.
......
......@@ -92,6 +92,7 @@ namespace pinocchio
, dq_after(model.nv)
, impulse_c()
, staticRegressor(3,4*(model.njoints-1))
, jointTorqueRegressor(model.nv,10*(model.njoints-1))
{
typedef typename Model::JointIndex JointIndex;
......
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