Function Karana::Dynamics::Algorithms::evalCmLocation

Function Karana::Dynamics::Algorithms::evalCmLocation#

Function Documentation#

km::Vec3 Karana::Dynamics::Algorithms::evalCmLocation(const SubTree &st)#

Return the location of the sub-tree CM from the virtual root.

Return the current location of the center-of-mass frame for the whole sub-tree with respect to the virtual root.

See the Embedded Control Algorithms section for more information.

Parameters:

st – SubTree instance

Returns:

The position of the CM with respect to the virtual root.

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