Comments (4)
We had a discussion about that already hadn't we? I believe, but I am not sure, that usually you need dJ * v
and there is a function to get that in pinocchio
. The problem with the Jacobian derivative is that it would require the usage of tensors which are part of the Eigen-unsupported
https://eigen.tuxfamily.org/dox/unsupported/eigen_tensors.html. We could include that as well but I am not familiar with it.
from control-libraries.
Actually I just checked the documentation of the function you mention and it is a 6 x n_joints
matrix because it is the time derivative of the Jacobian and not Jacobian partial derivative (hessian). Are you sure this is what you need? In that case yes this could easily be added. I would recommend a nomenclature as compute_jacobian_time_derivative()
.
from control-libraries.
Actually I need to compute dJ*dq
from control-libraries.
Right indeed not dJ * v
which is incorrect. I know there is such a function in pinocchio. Not sure what it is though.
from control-libraries.
Related Issues (20)
- install.sh script not working HOT 5
- Pinocchio-Boost Problems HOT 9
- Error when putting ros.h include before pinocchio include HOT 3
- Library libpinocchio.so.2.6.0 not correctly loaded HOT 8
- Random JointPositions HOT 7
- Wrench not computed in the multiplication operator
- Inverse is not meaningful for all cartesian types
- Deprecated `from_std_vector` HOT 4
- Demos on develop branch HOT 3
- CartesianState operators in Python bindings HOT 1
- Use hpp extension for clproto headers HOT 1
- Python binding of CartesianState uses argument name "reference", not "reference_frame" HOT 1
- Re-enable building of pinocchio tests in development image HOT 1
- Not using actual rotation vector for ImpedanceController
- Inconsisten behavior of passing state.force_ and state.torque_
- Not using actual rotation vector for ImpedanceController # HOT 1
- Inconsisten behavior of passing state.force_ and state.torque_ HOT 2
- VelocityImpedance is actually a PassiveController HOT 3
- Force gain matrix in Impedance HOT 2
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from control-libraries.