Comments (3)
Are you using the constructor correctly?
Please check these docs
Also note that getCOG
returns h/m
see here
from orocos_kinematics_dynamics.
Thanks for the reply and the links to the documentation.
I actually misunderstood the documentation and did not realize that the RigidBodyInertia
does not take the COM
but a vector between a reference point and the COM (oc)
.
If I understand the documentation correctly getCOM()
should return the actual COM. However, it returns oc
. Is this how it should be?
from orocos_kinematics_dynamics.
The COM/COG is the mass weighted center point, so it is a vector. Just like any point this is relative to another point.
So I don't understand your comment about it not taking the COM
as argument. You probably assumed a different reference frame. Or did you assume it takes the mass scaled COM vector? Please elaborate
Internally it stores the COM vector scaled by the mass, h
. This is probably done for code optimization.
in getCOG()
it divides h
by the mass, so you get the COM vector again.
from orocos_kinematics_dynamics.
Related Issues (20)
- 5Dof IK is not reporting angles as expected
- AddressSanitizer throws errors HOT 3
- Compile issue of python bindings HOT 10
- Question about the computational performance of KDL on redundant kinematic chains HOT 4
- Joint Limits on Inverse Kinematic solver HOT 1
- Python Version Error HOT 6
- Website Documentation Wrong
- Installing KDL with python bindings on macos when building from source HOT 1
- ImportError: dynamic module does not define module export function (PyInit_PyKDL) HOT 14
- compiling eigen not found HOT 2
- CMake error of SET(KDL_CFLAGS "${KDL_CFLAGS} -I${EIGEN3_INCLUDE_DIR}") HOT 2
- Cmake Build Error HOT 2
- Path_RoundedComposite::Clone() doesn't copy F_base_start and F_base_via HOT 2
- compilation error HOT 2
- Bump version in master branch after release
- Frame composition does nothing. HOT 1
- Gravity Compensation with PyKDL always gives Zero HOT 2
- Problem with path_line trajectory, C code, bad quaternions in trajectory
- Build error on OpenBSD HOT 3
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from orocos_kinematics_dynamics.