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jrl-umi3218 / RBDyn

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
BSD 2-Clause "Simplified" License
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CoM Jacobian Column Order #40

Closed amdshameer closed 7 years ago

amdshameer commented 7 years ago

I know that rbd::Jacobian::fullJacobian columns are arranged in the order of rbd::MultiBody::jointPosInDof. Is it the same for CoM Jacobian rbd::CoMJacobian::CoMJacobian

haudren commented 7 years ago

Yes, both jacobians are such that the speed (of the CoM, or an end-effector) can be computed by:

spd = jac * qd