#include <RBDyn/RBDyn/Coriolis.h>

Public Member Functions
	Coriolis (const rbd::MultiBody &mb)

const Eigen::MatrixXd &	coriolis (const rbd::MultiBody &mb, const rbd::MultiBodyConfig &mbc)

Detailed Description

Computation of the Coriolis effects matrix on a multibody. The Coriolis factorization is not unique, we use the formulation of M. Bjerkend and K. Pettersen in "A new Coriolis matrix factorization", 2012 NB: ForwardDynamics::C() directly computes the product of this matrix with qd. This C*qd is unique, but C itself is not.

Constructor & Destructor Documentation

◆ Coriolis()

rbd::Coriolis::Coriolis ( const rbd::MultiBody & mb )

Initialize the required structures

Parameters

mb	Multibody system

Member Function Documentation

◆ coriolis()

const Eigen::MatrixXd& rbd::Coriolis::coriolis	(	const rbd::MultiBody &	mb,
		const rbd::MultiBodyConfig &	mbc
	)

Compute the matrix C of Coriolis effects.