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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
39 stars 10 forks source link

WIP: Chain Class #321

Closed danbarla closed 2 years ago

danbarla commented 2 years ago

In this PR we will integrate the Chain class in cpp. The Chain class represents an open kinematic chain and helps model the Wrench exerted on the body using joint torques and the Jacobian.

dellaert commented 2 years ago

Good progress! Please request a re-review when you want me to look again.

danbarla commented 2 years ago

@varunagrawal @dellaert Thanks for the reviews. merging.

varunagrawal commented 2 years ago

Great work @danbarla! Looking forward to using this in my state estimator 😄