Commit 9351d6cb authored by jcarpent's avatar jcarpent
Browse files

[Data] Add Coriolis matrix inside Data

parent 1ff44369
......@@ -75,6 +75,7 @@ namespace se3
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::VectorXd,ddq,"Joint accelerations")
.ADD_DATA_PROPERTY(container::aligned_vector<Inertia>,Ycrb,"Inertia of the sub-tree composit rigid body")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::MatrixXd,M,"Joint Inertia matrix")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::MatrixXd,C,"The Coriolis matrix such that c(q,v) = C(q,v)v")
.ADD_DATA_PROPERTY(container::aligned_vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
.ADD_DATA_PROPERTY(std::vector<int>,lastChild,"Index of the last child (for CRBA)")
.ADD_DATA_PROPERTY(std::vector<int>,nvSubtree,"Dimension of the subtree motion space (for CRBA)")
......
......@@ -408,6 +408,9 @@ namespace se3
/// \brief The joint space inertia matrix (a square matrix of dim model.nv).
Eigen::MatrixXd M;
/// \brief The Coriolis matrix (a square matrix of dim model.nv).
Eigen::MatrixXd C;
/// \brief The joint accelerations computed from ABA
Eigen::VectorXd ddq;
......
......@@ -247,6 +247,7 @@ namespace se3
,Ycrb((std::size_t)model.njoints)
,dYcrb((std::size_t)model.njoints)
,M(model.nv,model.nv)
,C(model.nv,model.nv)
,ddq(model.nv)
,Yaba((std::size_t)model.njoints)
,u(model.nv)
......
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