Function Karana::Dynamics::Algorithms::evalCentroidalMomentum

Function Karana::Dynamics::Algorithms::evalCentroidalMomentum#

Function Documentation#

km::SpatialVector Karana::Dynamics::Algorithms::evalCentroidalMomentum(SubTree &st)#

Calculate the centroidal spatial momentum for the SubTree.

This is the same as the sub-tree’s spatial momentum (computed by evalSpatialMomentum()), except that this value is referenced about the sub-tree’s center of mass location, though still represented in the virtual root frame. Note that this quantity is conserved in the absence of external forces on the system.

This method does not support deformable bodies.

See the Embedded Control Algorithms section for more information.

Parameters:

st – SubTree instance

Returns:

Spatial momentum.

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