Dynamics APIs

Methods related to the Dynamics calculations are provided in this section. Note that some methods are for use in the serial systems (unconstrained), while others are specifically for use in the parallel (closed-loop) systems. get_num_joints returns the degrees of freedom of the model

calc_M computes the joint space inertia matrix

calc_G computes the N by 1 gravity matrix

calc_InverseDynamics computes inverse dynamics using the Newton-Euler Algorithm

calc_ForwardDynamics computes forward dynamics with the Articulated Body Algorithm

calc_InverseDynamicsConstrained an inverse-dynamics operator that can be applied to fully-actuated constrained systems

calc_ForwardDynamicsConstrained computes forward dynamics with contact by constructing and solving the full lagrangian equation

calc_MInvTimesTau computes the effect of multiplying the inverse of the joint space inertia with the joint space torque vector