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orocos / orocos_kinematics_dynamics

Orocos Kinematics and Dynamics C++ library
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Question about the JntToCoriolis function #458

Open SwonGao opened 9 months ago

SwonGao commented 9 months ago

Hi, JntToCoriolis calculates the force: C(q, q_dot)

I want to ask if I can calculate the matrix "C * q_dot_desired"; here, C means the Coriolis and centrifugal matrix.

Now, I am using: Jnt_Desired_VelState.data = J.data.inverse() * (Cart_ee_Ref_Twist); idsolver->JntToCoriolis(Jnt_Pos_State, Jnt_Desired_VelState, C); I wonder if that is correct. Can you help me with it?

Thank you!