Minor additions to gym_ignition.rbd package

[diegoferigo]

• New utils module with useful extract_skew, extract_symm, vee and wedge methods
• Expose KinDynComputations.get_generalized_gravity_forces
• Expose KinDynComputations.get_average_velocity_jacobian

[traversaro]

Not a big problem, but the symbol that in latex is typically used for representing this operator is the wedge, not the hat.

[diegoferigo]

Yeah, makes sense to match latex terminology here 👍

[diegoferigo]

I start having second thoughts on this, using hat instead of wedge would give the code a more colloquial sense since standing to the notation document the operator is pronounced hat while in latex is typesetted as wedge.

[traversaro]

the operator is pronounced hat while in latex is typesetted as wedge.

I guess there is no absolute reference, but for me $\hat{a}$ is pronounced as hat I.e. the hat is on top of the symbol, while $a^\wedge$ is pronounced as wedge (i.e. where the symbol is on the top right, like an exponential).

[traversaro]

I am afraid that this may be confusing to user, as they could expect that this function takes a 3\times 1 vector and return the 3x3 skew symmetric matrices, what now is done by the hat operator.

[diegoferigo]

Do you have any better name for the decomposition of a matrix in its skew symmetric and symmetric parts?

[traversaro]

extract_skew and extract_symmetric or skew_part and symmetric_part seems to be more clear to me, especially if no docs are provided.

[traversaro]

Minor comments.

[diegoferigo]

@traversaro addressed naming suggestions and added documentation