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robotology-legacy / kdl_codyco

All code migrated to the iDynTree library.
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Efficient algorithm to calculate the Jacobian of the Momentum #2

Closed traversaro closed 10 years ago

traversaro commented 11 years ago

The algorithm current implemented seems to be suboptimal. Find or elaborate a more efficient algorithm.

traversaro commented 10 years ago

Floating Base CRBA is now implemented, use the calculation of the first 6 rows and you have an O(n) efficient momentum of jacobian algorithm as explained in http://rd.springer.com/article/10.1007%2Fs10514-013-9341-4

traversaro commented 10 years ago

Already implemented in experimental branch using crba_momentum_jacobian_loop . I forgot about it.