Converting force vectors to local frame for rnea

stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

http://stack-of-tasks.github.io/pinocchio/

BSD 2-Clause "Simplified" License

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Converting force vectors to local frame for rnea #1543

Closed manumerous closed 2 years ago

manumerous commented 2 years ago

Hi I am trying to call this inverse dynamics rnea function with some external forces.

Does the pipeline already contain functionalities to convert a vector from the world frame to the local frames of the joints using a joint name or joint ID?

So far I could not find it.

jcarpent commented 2 years ago

Not yet. You should do that manually. This feature will be present in Pinocchio 3

manumerous commented 2 years ago

Okay thanks a lot for the fast feedback! I am in need of that feature for a project of mine, so I will implement it manually then.