Dynamics EquationΒΆ

  • Control variable : X (whole optimisation 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 optimisation problem