Topic/id factorization - Githubissues

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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Closed vsamy closed 6 years ago

vsamy commented 6 years ago

Factorization of the ID algorithm to allow ID without taking into account the inertial parameters.

gergondet commented 6 years ago

API wise I'd rather see two functions:

inverseDynamics(...) the current function
inverseDynamicNoInertia(...) which computes the ID without taking the inertia into account

The bindings code is broken in this PR but with this API it would be irrelevant.

gergondet commented 6 years ago

Great! Thanks :cake: