Function Karana::Dynamics::Algorithms::evalCentroidalMomentumMatrix

• Defined in File Algorithms.h

Function Documentation

km::Mat Karana::Dynamics::Algorithms::evalCentroidalMomentumMatrix(SubTree &st)

Calculate the centroidal momentum matrix for the SubTree.

This returns the centroidal momentum matrix (CMM) that defines the mapping between the system generalized velocities and the system’s centroidal momentum. Note that this matrix is configuration dependent. This matrix is used in the context the control of legged robots and managing the motion of their CM for stable walking.

See the Embedded Control Algorithms section for more information.

Parameters:

st – SubTree instance

Returns:

The 6xnU centroidal momentum matrix (CMM).