Justin Carpentier
Justin Carpentier
Dear developpers, Any news on this issue? Thanks in advance, Justin
I don't know what is the current status of using Pinocchio inside iDyntree, but soon, Pinocchio will support such kind of mechanisms both at the kinematic and dynamic level. So,...
Dear iDynTree developers, I have implemented such kind of derivatives here: https://github.com/stack-of-tasks/pinocchio/blob/devel/src/algorithm/kinematics-derivatives.hxx I never explicitly compute the tensor H of dimension 6 x nv x nv (where nv is the...
A bit is explained here: https://hal.laas.fr/hal-01790971 When deriving RNEA derivatives, you can get for free the derivatives of the kinematics too. I will try to make these things clearer in...
If you want, this feature is already implemented in Pinocchio: https://github.com/stack-of-tasks/pinocchio/blob/820d0f85fbabddce20924a6e0f781fb2be5029e9/src/algorithm/rnea.hpp#L152. I did that for the analytical derivatives at the beginning ;)
Oh, amazing, we had the same thoughts. I don't have any reference, but I may write a technical note if you want.
@joaoleal And also if you have some guess on how to proceed?
Yes, there is a full example here: https://github.com/coin-or/CppAD/blob/46be2e2dbcaba47d8a38e8d9110efc48c7245754/example/general/new_dynamic.cpp#L30 @bradbell introduces a new concept of Dynamic type as it can be seen in line https://github.com/coin-or/CppAD/blob/46be2e2dbcaba47d8a38e8d9110efc48c7245754/cppad/local/independent.hpp#L87
Sounds really great. Thanks for these code developments.