Closed traversaro closed 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
Already implemented in experimental branch using crba_momentum_jacobian_loop . I forgot about it.
The algorithm current implemented seems to be suboptimal. Find or elaborate a more efficient algorithm.