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Saw someone else pointing out the problem that in the chapter about `Equations of Motion with Nonholonomic Constraints` step 8 a term was left out when computing the generalized inertia torques.
```p…
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This code detects memory allocation on the `impulseDynamics`. It's used the current signature in v2.7.1, I didn't try the latest changes, however, I believe the problem could be still there:
```cpp…
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1.
The step from eq(100) to eq(101), with eq(97) is not obvious to me, I am not familiar how to calculate terms like a.dot(b.cross(c)).
Am I overlooking something obvious? Otherwise maybe you could g…
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Fig 22 a)
As the single generalized coordinate, one could take for example, the angle at P1 (phi1) or the angle at P4 (phi4)
As I see it:
(Completely free = any angle is possible)
For phi1 to be comp…
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@jwnimmer-tri pointed out in [this Slack conversation](https://drakedevelopers.slack.com/archives/C2WBPQDB7/p1657230165865699) that users might find it cumbersome if `dissipation_timescale` is made re…
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Small point:
In the notation chapter you mention the outer product of two vectors, the symbol being the ‚circled x‘.
I could not find the definition in your script. (I found the definitions of the o…
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Dear all,
The horizontal (x and y) component of the center of gravity refers to the (local) coordinates of the center of the body, the vertical component, however, is defined relative to the global…
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1.
Eq(137)
I do not know, how familiar your students are with 'mechanics'.
Would it help to say, that eq(137) are the famous Newton-Euler equations of motion, but in the form given by Kanes.
2.
Right…
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In the demo "laikago_footstep_ik", I find the process of :
- "forward kinematics"(**laikago_footstep_ik.cpp, Line412**);
- "inverse kinematics"(**laikago_footstep_ik.cpp, Line406~459**);
- "forward…
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Recent profiling of Inverse Dynamics reveals that over 9% of the cost is lost with `dynamic_cast`.
Many of these are spread throughout the `system::` framework.
Inverse dynamics is a fundamental c…