Open traversaro opened 4 years ago
cc @GiulioRomualdi
Before I forgot I want to drop here this table of conversion:
iDynTree |
Pinocchio |
---|---|
MIXED_REPRESENTATION | LOCAL_WORLD_ALIGNED |
INERTIAL_FIXED_REPRESENTATION | WORLD |
BODY_FIXED_REPRESENTATION | LOCAL |
CC @robotology/iit-dynamic-interaction-control
Before I forgot I want to drop here this table of conversion:
Updated version to be self-contained. Assumptions:
iDynTree |
Pinocchio |
Math |
---|---|---|
MIXED_REPRESENTATION | LOCAL_WORLD_ALIGNED | (ᵃȯₑ , ( ᵃṘₑ ᵃRₑᵀ )ᵛ ) . |
INERTIAL_FIXED_REPRESENTATION | WORLD | (ᵃȯₑ - (ᵃṘₑ ᵃRₑᵀ) ᵃoₑ , ( ᵃṘₑ ᵃRₑᵀ )ᵛ ) . |
BODY_FIXED_REPRESENTATION | LOCAL | (ᵃRₑᵀ ᵃȯₑ , ( ᵃRₑᵀ ᵃṘₑ )ᵛ ) . |
Sources and derivation for the equations:
MIXED_REPRESENTATION
Eq. 35 in https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2 INERTIAL_FIXED_REPRESENTATION
Eq. 23 in https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2 BODY_FIXED_REPRESENTATION
Eq. 18 in https://research.tue.nl/en/publications/multibody-dynamics-notation-version-2 Related Pinocchio issues:
Things to check (see https://github.com/robotology/idyntree/issues/673#issuecomment-615168900) :