Add type KDL-related types: jacobian/inertia/coriolis/gravity/velocity

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COGIMON Top-Level Documentation

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Add type KDL-related types: jacobian/inertia/coriolis/gravity/velocity #8

Open ndehio opened 8 years ago

ndehio commented 8 years ago

A type for jacobian would be beneficial, as well as for inertia/coriolis/gravity for the inverse dynamics model. Also CartesianVelocity would be nice. At the moment I use pure Eigen instead. Eigen::MatrixXf jacobian; Eigen::MatrixXf inertia; Eigen::VectorXf gravity; Eigen::VectorXf coriolis; Eigen::VectorXf velocity;

What do you think about these types?

xwavex commented 7 years ago

i totally agree about these types; we need them!