Dynamics Equation¶
- Control variable : X (whole optimization vector)
- Type : Equality constraint
- Size : \(ndof \times size(X)\)
\[\begin{bmatrix}
- M &&
S_{\tau} &&
J_{^{e}w}
\end{bmatrix} X
= C + G\]
orca::constraint::DynamicsEquationConstraint dyn_eq;
dyn_eq.loadRobotModel( urdf );
dyn_eq.setGravity( Eigen::Vector3d(0,0,-9.81) );
dyn_eq.update(); // <-- Now initialized
dyn_eq.activate(); // <-- Now activated
dyn_eq.insertInProblem(); // <-- Now part of the optimization problem