Currently, the class ma::body:: InverseDynamicsMatrix uses central/forward/backward methods to compute 1st and 2nd derivate with a 2nd order of accuracy. However, other methods can be used for that (central method + mirroring on the boundaries, cascaded 1st derivate), The possibility to choose the finite derivate method will help to validate the inverse dynamic part. Indeed, no reference data correspond to the implementation of the class ma::body:: InverseDynamicsMatrix.
Currently, the class
ma::body:: InverseDynamicsMatrixuses central/forward/backward methods to compute 1st and 2nd derivate with a 2nd order of accuracy. However, other methods can be used for that (central method + mirroring on the boundaries, cascaded 1st derivate), The possibility to choose the finite derivate method will help to validate the inverse dynamic part. Indeed, no reference data correspond to the implementation of the classma::body:: InverseDynamicsMatrix.