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Calculation of the mass of a portion of the kinematic chain #142

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merged 31 commits into from Apr 11, 2019

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@rafaelxero
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commented Apr 10, 2019

There are three main changes:

  • The update of ptr->vo and ptr->w in Body::calcInverseDynamics as I think they were missing,
    as confirmed by comparing with results in Matlab
  • The addition of JointPath::calcJacobianDot, which hasn't been tested yet but it is not used
  • The addition of LinkTraverse::calcTotalMass, to get the mass of a portion of a kinematic chain
    (I use it in hmc2/Util/multi_contact/multi_contact.cpp)
rafaelxero added 30 commits Apr 4, 2016
@fkanehiro

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commented Apr 10, 2019

Please update this PR to pass Travis.

@fkanehiro fkanehiro merged commit 53d561a into fkanehiro:master Apr 11, 2019
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