iDynTree/DynamicsUtils.h file

Namespaces

namespace iDynTree

Functions

biasWrenchVelocityDerivative(SpatialInertia M, SpatialMotionVector V)
Given a rigid body inertia $M$ and spatial motion vector $V$ , the bias wrench $B$ of rigid body is defined as:

Function documentation

biasWrenchVelocityDerivative(SpatialInertia M, SpatialMotionVector V)

Given a rigid body inertia $M$ and spatial motion vector $V$ , the bias wrench $B$ of rigid body is defined as:

\[ B = \times \]