Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add recursive algorithm to compute the inverse of the mass matrix #231

Draft
wants to merge 8 commits into
base: main
Choose a base branch
from
Draft

Add recursive algorithm to compute the inverse of the mass matrix #231

wants to merge 8 commits into from

Conversation

flferretti
Copy link
Collaborator

@flferretti flferretti commented Sep 13, 2024 •
edited by github-actions bot
Loading

This PR adds a RBDA to compute the inverse of the floating base mass matrix analytically.

Note

Reference pseudocode: https://laas.hal.science/hal-01790934v2/document

Solves #107

📚 Documentation preview 📚: https://jaxsim--231.org.readthedocs.build//231/

@flferretti flferretti self-assigned this Sep 13, 2024
@flferretti flferretti linked an issue Sep 13, 2024 that may be closed by this pull request
Exploit branch-induced sparsity to invert the mass matrix #107
Open
@flferretti flferretti force-pushed the feature/mass_inverse_rbd branch from edb8dbe to e042c22 Compare September 18, 2024 17:11
@diegoferigo diegoferigo mentioned this pull request Sep 19, 2024
Merged
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@xela-95 xela-95 Awaiting requested review from xela-95 xela-95 will be requested when the pull request is marked ready for review xela-95 is a code owner

Assignees

@flferretti flferretti

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

Exploit branch-induced sparsity to invert the mass matrix
1 participant
@flferretti