Pinocchio: Calculate moment of inertia around the CoM

[ddliu365]

Is there a function to calculate the moment of inertia around the CoM in Pinocchio?

[jcarpent]

Yes, sure. This is called ccrba and the desired quantity is available through data.Ig, the naming being related to the paper of Orin and Goswami.

pin.ccrba(model,data,q,v)
data.Ig

[jcarpent]

@ddliugit It would be nice if you can write a simple example of computing and using such quantities. This small example will be helpful for other users. Thanks in advance for your contribution if you are willing to.

[gabrielebndn]

I've always found that algorithm kind of funny. If all you want is Ig, then v is not needed... Instead, v is there so to compute hg from Ig... There should be at least one version of ccrba without v, I think

[jcarpent]

@gabrielebndn Ig comes from free from many algorithms. It is not a quantity that you have to compute separately from other quantities in general ;)
Having one algorithm for each quantity contained in Data will increase a lot the current API, without any gain in performances.

[jcarpent]

@ddliugit Any feedback or comments?

[ddliu365]

Sorry for late reply.

I try that method, it works.

I will try to implement that, but it may take some time.

[jcarpent]

OK. @ddliugit Thanks for your feedback. Hope you will be able to implement those examples.

[jcarpent]

In the meantime, I close the issue as it seems to be solved!