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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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Add member function to set gravity vector in centroidal dynamics system #821

Closed LoreMoretti closed 3 months ago

LoreMoretti commented 3 months ago

This PR aims at providing a member function to set on the fly the gravity vector used in CentroidalDynamics.h.

For example, when the reference frame is changed from the world one to a local one, and we want to write the centroidal dynamics in this new local frame, it might be needed to set a new gravity vector.

GiulioRomualdi commented 3 months ago

The CI is not due to your change 😀