Add velocity representations

ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

https://adam-docs.readthedocs.io/en/latest/

BSD 3-Clause "New" or "Revised" License

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Add velocity representations #48

Closed Giulero closed 11 months ago

Giulero commented 1 year ago

With this PR I'm gonna add the body fixed (or left trivialized) velocity representation.

I took also the occasion to implement the $\dot{J}$ function which represents the time-derivative of the Jacobian! See #27 I added the usual tests comparing the output of the function jacobian_dot with iDyntree function getFrameBiasAcc(frame) .

Ready to be reviewed! The tests should be a good starting point, then I will update the readme accordingly.

Giulero commented 11 months ago

Thanks @flferretti for the review! I addressed the suggestions.

Giulero commented 11 months ago

Thanks guys! I should have tackled all the suggestions!

Giulero commented 11 months ago

Merging!