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robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
176 stars 67 forks source link

Port the DynamicRegressorGenerator tool to the new native iDynTree classes, to drop the dependency on KDL #317

Open traversaro opened 7 years ago

traversaro commented 7 years ago

Related: https://github.com/robotology/idyntree/pull/314 .

traversaro commented 6 years ago

Furthermore, a lot of the terrible code in that class was due to the poorly designed (by myself) attempts to program a general way of computing the basis for the identifiable subspace given a regressor structure. The recent paper Observability in Inertial Parameter Identification introduces a general algorithm Recursive Parameter Nullspace Algorithm (RPNA) that is a good candidate to be generalized to arbitrary regressor structure and added to this class. A MATLAB implementation that can be used as a reference is available in https://github.com/pwensing/RPNA .

traversaro commented 6 years ago

cc @francesco-romano