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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
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Document configuration vector for the planar joint #2211

Closed stephane-caron closed 6 months ago

stephane-caron commented 6 months ago

Context: https://github.com/stack-of-tasks/pinocchio/discussions/2184#discussioncomment-9046849

hrp2-14 commented 6 months ago

Hi ! This project doesn't usually accept pull requests on the main branch. If this wasn't intentionnal, you can change the base branch of this PR to devel (No need to close it for that). Best, a bot.

stephane-caron commented 6 months ago

The most relevant page I found in the documentation while looking up the planar joint is Joint dynamics. (I did not see the configuration/tangent vector structure of the planar joint in e.g. JointPlanarTpl.) Maybe configuration/tangent vectors are documented somewhere else?

This PR proposes documented the vectors on the page I landed on. If they are also documented elsewhere we can add links as well.