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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
1.7k stars 366 forks source link

Seek for COM Matrix #2176

Closed Mr-Red331 closed 4 months ago

Mr-Red331 commented 4 months ago

Hi,

Thanks for providing such a great dynamic library!

I am seeking a linear form of calculating Center of Mass, which can be expressed as:

Com = qM

where Com means the Center of Mass of a robot, q means the joint position, and M is the Matrix I am seeking for.

I have checked the Pinocchio's manual but couldn't find it. I wonder if Pinocchio could provide such a matrix.

jcarpent commented 4 months ago

Please see the cheat sheet: https://github.com/stack-of-tasks/pinocchio/blob/master/doc/pinocchio_cheat_sheet.pdf