Open zhidao opened 1 week ago
The inverse dynamics solver rkChainID() has the following API:
rkChainID()
void rkChainID_G(rkChain *chain, zVec vel, zVec acc, const zVec6D *g);
In fact, the inputs to the inverse dynamics computation include joint displacements in addition to the joint velocities and accelerations, and the output joint torque. The above API doesn't clarify this input-output relation. So, I'll change it to
void rkChainID_G(rkChain *chain, const zVec dis, const zVec vel, const zVec acc, zVec trq, const zVec6D *g);
in the next revision. I imagine this affects largely.
Done in the latest ver.2.10.0.
zhidao
commented
1 week ago
The inverse dynamics solver
rkChainID()has the following API:In fact, the inputs to the inverse dynamics computation include joint displacements in addition to the joint velocities and accelerations, and the output joint torque. The above API doesn't clarify this input-output relation. So, I'll change it to
in the next revision. I imagine this affects largely.