Closed vpadois closed 4 years ago
Hi Vincent,
Nice to meet you here.
What do you mean an analytical expression:
Best,
Justin
From our perspective we could potentially make use of both. I guess you rather provide the graph than the whole formula ? Or can you do both by default ?
Thanks Vincent
Thanks to CppAD, we can do both in fact.
When do you need it?
With the current status of Pinocchio, I can only provide you a C++ example. Is it fine?
When do you need it?
Whenever you can / the sooner the better :slightly_smiling_face:
With the current status of Pinocchio, I can only provide you a C++ example. Is it fine?
Sure. We are actually planning to use it with a 7 dof manipulator.
Thanks in advance. Let us know what we can do to help.
@vpadois I'm on it now, just to be sure of your needs. Do you only want to:
crba(model,data,q)
will do the jobcomputeMassMatrix(q)
, in this case code generation will do the jobPinocchio can provides the three, but I would prefer to not waisting time by providing a side feature which is not needed. Thanks in advance for your quick reply.
Thx @jcarpent.
What we really need is a symbolic expression of the mass matrix, possibly in the form of a function. I guess this corresponds to the second option you describe ? The more this expression is factorized with respect to the symbolic variable q, the better it is for us.
best Vincent
Dear @vpadois, you can find the solution of your issue in #1059. I will add the feature for generating latex equations soon.
Dear @vpadois, you can find the solution of your issue in #1059. I will add the feature for generating latex equations soon.
Thank you so much for your reactivity. We will work on it and give you feedback as soon as possible.
Best Vincent
Dear @jcarpent, I would be very interested in an example of generating latex equations using CppAD, do you think you would be able to add this feature soon?
Thank you!
Hello,
I am not sure that the following feature comes with Pinocchio : analytical expression for the mass matrix. Is it the case ? If yes is there a running example that I could rely one ?
Thanks in advance.
best Vincent