Calculation of the mass of a portion of the kinematic chain

fkanehiro / openhrp3

Open Architecture Human-centered Robotics Platform

http://www.openrtp.jp/openhrp3

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Closed rafaelxero closed 5 years ago

rafaelxero commented 5 years ago

There are three main changes:

The update of ptr->vo and ptr->w in Body::calcInverseDynamics as I think they were missing, as confirmed by comparing with results in Matlab
The addition of JointPath::calcJacobianDot, which hasn't been tested yet but it is not used
The addition of LinkTraverse::calcTotalMass, to get the mass of a portion of a kinematic chain (I use it in hmc2/Util/multi_contact/multi_contact.cpp)

fkanehiro commented 5 years ago

Please update this PR to pass Travis.