Closed Qiao-JC closed 9 months ago
Task WbcBase::formulateFloatingBaseEomTask() { auto& data = pinocchioInterfaceMeasured_.getData(); matrix_t s(info_.actuatedDofNum, info_.generalizedCoordinatesNum); s.block(0, 0, info_.actuatedDofNum, 6).setZero(); s.block(0, 6, info_.actuatedDofNum, info_.actuatedDofNum).setIdentity(); matrix_t a = (matrix_t(info_.generalizedCoordinatesNum, numDecisionVars_) << data.M, -j_.transpose(), -s.transpose()).finished(); vector_t b = -data.nle; return {a, b, matrix_t(), vector_t()}; }
May I ask why there is no gravity term in the b vector in the EOM task?
vector_t b = -data.nle - data.g;
data.nle corresponds to concatenation of the Coriolis, centrifugal and gravitational effects.
May I ask why there is no gravity term in the b vector in the EOM task?