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Merged
MasazumiImai merged 3 commits into from
Apr 20, 2026
Merged

Develop #4

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4a2d0ef
Remove old function definition
MasazumiImai Apr 20, 2026
04ed79d
Modify computeGeneralizedJacobian
MasazumiImai Apr 20, 2026
b269a3e
Merge pull request #3 from MasazumiImai/bugfix/dynamics
MasazumiImai Apr 20, 2026
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3 changes: 0 additions & 3 deletions include/fbml/dynamics.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,6 @@ class FBML_PUBLIC Dynamics
explicit Dynamics(const RobotCore & core);
virtual ~Dynamics() = default;

Eigen::MatrixXd computeGeneralizedJacobian(
const Eigen::VectorXd & q, const std::string & frame_name);

Eigen::MatrixXd computeMassMatrix(const Eigen::VectorXd & q);

// ?: Should use struct (PartitionedMassMatrix{fbml::Matrix6d base; Eigen::MatrixXd coupling;}) as output?
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2 changes: 1 addition & 1 deletion src/dynamics.cpp
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Expand Up @@ -80,7 +80,7 @@ Eigen::MatrixXd Dynamics::computeGeneralizedJacobian(
const int njoints = model_.nv - 6;

fbml::Matrix6d M_b = data_.M.block<6, 6>(0, 0);
Eigen::MatrixXd M_bm = data_.M.block(0, 6, njoints, 6).transpose();
Eigen::MatrixXd M_bm = data_.M.block(0, 6, 6, njoints);

fbml::Matrix6d J_b = J_full.block<6, 6>(0, 0);
Eigen::MatrixXd J_m = J_full.block(0, 6, 6, njoints);
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