Add member function to set gravity vector in centroidal dynamics system #821
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LoreMoretti
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S-Dafarra
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Mar 15, 2024
LoreMoretti
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| * @param gravity the value of the gravity vector used in the system dynamics. | ||
| * @return true in case of success, false otherwise. | ||
| */ | ||
| bool setGravityVector(const Eigen::Vector3d& gravity); |
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This can return a void and it should take as input Eigen::Ref
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Thanks @GiulioRomualdi for the suggestion.
Done in
6b0625e
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The CI is not due to your change 😀 |
GiulioRomualdi
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Mar 17, 2024
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This PR aims at providing a member function to set on the fly the gravity vector used in CentroidalDynamics.h.
For example, when the reference frame is changed from the
worldone to alocalone, and we want to write the centroidal dynamics in this newlocal frame, it might be needed to set a new gravity vector.