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Implement algorithm to compute the standalone Coriolis matrix C(q, ν) #41

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diegoferigo opened this issue Jun 30, 2023 · 4 comments · May be fixed by #75
Open

Implement algorithm to compute the standalone Coriolis matrix C(q, ν) #41

diegoferigo opened this issue Jun 30, 2023 · 4 comments · May be fixed by #75
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@diegoferigo
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@traversaro
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A possible algorithm to implement is https://arxiv.org/pdf/2010.01033 .

@diegoferigo
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Thanks! I already had a look at it. Another interesting xref is robotology/idyntree#745.

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Check out: flferretti/jaxsim @ feature/coriolis

@flferretti flferretti linked a pull request Feb 2, 2024 that will close this issue
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@diegoferigo diegoferigo mentioned this issue Apr 3, 2024
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@diegoferigo
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diegoferigo commented Jun 10, 2024 •
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Now that #169 added the support of computing $\dot{J}$, I tried to compute the Coriolis matrix without implementing a new RBDA (I still have few doubts on how to handle the base-related blocks for an iterative algorithm) in #172. The computation is pretty slow, but downstream users that need this matrix for particular controllers at least can play with it.

I'll leave this issue open since an iterative algorithm is desired. Maybe someone, now that there is a ground truth, is willing enough to dig into this implementation sooner or later.

@diegoferigo diegoferigo added the help wanted Extra attention is needed label Jun 10, 2024
@flferretti flferretti self-assigned this Sep 11, 2024
@flferretti flferretti linked a pull request Dec 4, 2024 that will close this issue
Add algorithm to compute the standalone Coriolis matrix C(q, ν) #75
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Add algorithm to compute the standalone Coriolis matrix C(q, ν) flferretti/jaxsim
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@diegoferigo @traversaro @flferretti