Commit cf80e893 by jcarpent Committed by Justin Carpentier

### [Data] Introduce the notion of dense {Config,Tangent} vectors

parent ce75c018
 ... ... @@ -67,6 +67,13 @@ namespace se3 typedef Eigen::Matrix VectorXs; typedef Eigen::Matrix Vector3; /// \brief Dense vectorized version of a joint configuration vector. typedef VectorXs ConfigVectorType; /// \brief Dense vectorized version of a joint tangent vector (e.g. velocity, acceleration, etc). /// It also handles the notion of co-tangent vector (e.g. torque, etc). typedef VectorXs TangentVectorType; /// \brief The 6d jacobian type (temporary) typedef Eigen::Matrix Matrix6x; /// \brief The 3d jacobian type (temporary) ... ... @@ -115,7 +122,7 @@ namespace se3 container::aligned_vector liMi; /// \brief Vector of joint torques (dim model.nv). VectorXs tau; TangentVectorType tau; /// \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$M\ddot{q} + b(q, \dot{q}) = \tau \f$, ... ... @@ -183,14 +190,14 @@ namespace se3 RowMatrix6 M6tmpR; /// \brief The joint accelerations computed from ABA VectorXs ddq; TangentVectorType ddq; // ABA internal data /// \brief Inertia matrix of the subtree expressed as dense matrix [ABA] container::aligned_vector Yaba; // TODO: change with dense symmetric matrix6 /// \brief Intermediate quantity corresponding to apparent torque [ABA] VectorXs u; // Joint Inertia TangentVectorType u; // Joint Inertia // CCRBA return quantities /// \brief Centroidal Momentum Matrix ... ... @@ -316,7 +323,7 @@ namespace se3 VectorXs torque_residual; /// \brief Generalized velocity after impact. VectorXs dq_after; TangentVectorType dq_after; /// \brief Lagrange Multipliers corresponding to the contact impulses in se3::impulseDynamics. VectorXs impulse_c; ... ...
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