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iron76 / bnt_time_varying

Maximum-a-posteriori dynamic estimation for linkwise dynamic quantities
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Added preliminary version of computation of derivatives #5

Closed traversaro closed 9 years ago

traversaro commented 9 years ago

Of dynamics matrices with respect to q and \dot{q}. Maths details temporary available here: http://mathb.in/25572 . Still not complete. Missing the derivative of global transformation for external wrench. We want to estimate the external wrenches in the world frame for some particular reason? know that in Featherstone they are expressed in the global frame, but that is quite handy in simulation.

traversaro commented 9 years ago

@iron76 also added some comments while I was exploring the code.

iron76 commented 9 years ago

Thanks for the comments @traversaro. There is no reason for choosing the specific reference frame for wrenches. We can change the convention if you think that it would be better to define wrenches in a different reference frame.