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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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add mbc member 'bodyAccW' #74

Open ndehio opened 4 years ago

ndehio commented 4 years ago

It would be convenient to access bodyAccW() in MultiBodyConfig. I added the corresponding member, but it still need to be computed correctly. Is this done in IS.cpp and ID.cpp? And how?

gergondet commented 4 years ago

This can be done in FA.cpp, the same way it's done in FV.cpp for updating bodyVelW from bodyVelB. This can also be added in ID.cpp