Commit e46cc889 by jcarpent

### [Doc] Minor correction of the doc for ccrba

parent a261b5b8
 ... ... @@ -43,6 +43,24 @@ namespace se3 Data & data, const Eigen::VectorXd & q); /// /// \brief Computes the Centroidal Momentum Matrix, the Composite Ridig Body Inertia as well as the centroidal momenta /// according to the current joint configuration and velocity. /// /// /// \param[in] model The model structure of the rigid body system. /// \param[in] data The data structure of the rigid body system. /// \param[in] q The joint configuration vector (dim model.nq). /// \param[in] v The joint velocity vector (dim model.nv). /// /// \return The Centroidal Momentum Matrix Ag. /// inline const Data::Matrix6x & ccrba(const Model & model, Data & data, const Eigen::VectorXd & q, const Eigen::VectorXd & v); /// /// \brief Computes the upper triangular part of the joint space inertia matrix M by /// using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. Featherstone, 2008). ... ...
 ... ... @@ -417,11 +417,11 @@ namespace se3 // CCRBA return quantities /// \brief Centroidal Momentum Matrix /// \note \f$hg = Ag \dot{q}\f$ maps the joint velocity set to the centroidal momentum. /// \note \f$hg = A_g \dot{q}\f$ maps the joint velocity set to the centroidal momentum. Matrix6x Ag; /// \brief Centroidal momentum quantity. /// \note The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame. /// \note The centroidal momentum is expressed in the frame centered at the CoM and aligned with the inertial frame (i.e. the world frame). /// Force hg; ... ...
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