Function Karana::Dynamics::Algorithms::evalGravityCompensation

• Defined in File Algorithms.h

Function Documentation

km::Vec Karana::Dynamics::Algorithms::evalGravityCompensation(SubTree &st)

Compute the gravity compensation torque for the system.

Compute the generalized forces needed to support the gravitational load on the system. This method automatically takes into account additional bodies that are attached or detached from the system.

See the Embedded Control Algorithms section for more information.

Parameters:

st – SubTree instance

Returns:

The vector of generalized forces.