Centroidal Momentum Matrix (CMM)

[azadm]

I am wondering if it is possible to add a block that calculates the CMM?

[traversaro]

I guess the block is already there... @DanielePucci can provide more informations.

[DanielePucci]

Yes, we have it :-)

[DanielePucci]

Hold on, what do you precisely mean by Centroidal Momentum Matrix?

[traversaro]

The CMM is the "Jacobian" of the centroidal momentum.

[azadm]

Yes. According to Orin, by CMM I mean the matrix that maps the generalized velocities to the momentum about the centre of mass.

[DanielePucci]

Ok guys, then I do not remember and I should verify it. Probably it is not implemented since we do not use it in our balancing controllers. I think that @jeljaik can provide you with additional information for the time being.

[azadm]

Does getCentroidalMomentumJacobian function in DynTree.cpp have anything to do with the CMM? @traversaro

[traversaro]

Yes the getCentroidalMomentumJacobian return the CMM.

[azadm]

Good. So it is part of iDynTree but not yarpWholeBodyModel...

[traversaro]

Yes. The wholeBodyInterface/WBI-Toolbox was always meant to be a rather simplified interface exposing basic functions available on all humanoid robots.

However we are now working on Matlab bindings using SWIG [1] to automatically expose iDynTree classes as Matlab classes.

We have some simply prototype working, for example in https://github.com/robotology-playground/idyntree/blob/master/doc/geometric_classes.md .

Sooner or later we will support also the advanced dynamics classes and all their methods, as the CMM computation .

[1] http://www.swig.org/