iDynTree/FreeFloatingMatrices.h file

Namespaces

namespace iDynTree

Classes

class iDynTree::FrameFreeFloatingJacobian
Jacobian of the 6D frame velocity.
class iDynTree::MomentumFreeFloatingJacobian
Jacobian of the 6D momentum.
class iDynTree::FreeFloatingMassMatrix
Class representing the mass matrix of a Free Floating robot.

Enums

enum FrameVelocityRepresentation { INERTIAL_FIXED_REPRESENTATION, BODY_FIXED_REPRESENTATION, MIXED_REPRESENTATION }
Possible frame velocity representation convention.

Enum documentation

enum FrameVelocityRepresentation

Possible frame velocity representation convention.

Given a link $L$ and an absolute frame $A$ , the the possible frame velocity representation are the following:

  • INERTIAL_FIXED_REPRESENTATION : Velocity representation is ${}^{A} \mathrm{v}_{A,B}$ ,
  • BODY_FIXED_REPRESENTATION : Velocity representation is ${}^{B} \mathrm{v}_{A,B}$ ,
  • MIXED_REPRESENTATION : Velocity representation is ${}^{B[A]} \mathrm{v}_{A,B}$ .

See iDynTree::KinDynComputations documentation for more details.