Implement KinDynComputations::getCentroidalRobotLockedInertia and KinDynComputations::getRobotLockedInertia

robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots

BSD 3-Clause "New" or "Revised" License

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Implement KinDynComputations::getCentroidalRobotLockedInertia and KinDynComputations::getRobotLockedInertia #1153

Closed GiulioRomualdi closed 4 months ago

GiulioRomualdi commented 4 months ago

This PR implements the getCentroidalRobotLockedInertia and the getRobotLockedInertia for the KinDynComputations class.

The two matrices allow to convert the robot average velocity into the associated momentum as explained in the chapter of 3.9.2 and 3.9.3 @traversaro PhD thesis

The PR adds also the associated tests