Closed jviereck closed 4 years ago
Yes, sure. Then the API could be simply:
robot.computeCentroidalMomentumMatrix(q)
and we may also add something like:
robot.computeCentroidalQuantities(q,v)
or maybe a better name would be expected here, to call the ccrba.
Why not simply robot.ccrba
? I don't see the point of having a name which does not resemble at all the one of the normal API
ccrba
is an algorithm. The other robot.
method are also rather descriptive, like robot.mass
instead of robot.crba
. That's why I proposed the name computeCentroidalMomentumMatrix
.
@jviereck I would just remove compute
to mimic the current API of RobotWrapper ;)
Solved by #1111.
Thanks for the quick fix @jcarpent !
In Pinocchio 2.2.2, calling
fills the
robot.data.Ag
entries. Having version 2.3.1 installed it's necessary to callIt would be great if there would be a call like
robot.computeCentroidalMomentumMatrix(q, dq)
or similar on the RobotWrapper.