Dynamics-parameters

Classes
struct	iit::TestHyQ::dyn::RuntimeInertiaParams
class	iit::TestHyQ::dyn::RuntimeParamsGetter
struct	iit::testirb4600::dyn::RuntimeInertiaParams
class	iit::testirb4600::dyn::RuntimeParamsGetter

Detailed Description

Facilities related to the parameters of the inertia properties of the robot TestHyQ.

Inertia parameters are non-constants used in the robot model, where the inertia properties (mass, center of mass, intertia tensor) of the links are specified. Since the value of such parameters must be resolved at runtime, we sometimes refer to them as "runtime parameters", "runtime dynamics parameters", "runtime inertia parameters", etc.

Do not confuse them with the "inertia properties" of links, which unfortunately, in the literature, are commonly referred to as "inertia parameters"... Here, the parameters are the non-constant fields of the inertia properties.

Facilities related to the parameters of the inertia properties of the robot testirb4600.

Inertia parameters are non-constants used in the robot model, where the inertia properties (mass, center of mass, intertia tensor) of the links are specified. Since the value of such parameters must be resolved at runtime, we sometimes refer to them as "runtime parameters", "runtime dynamics parameters", "runtime inertia parameters", etc.

Do not confuse them with the "inertia properties" of links, which unfortunately, in the literature, are commonly referred to as "inertia parameters"... Here, the parameters are the non-constant fields of the inertia properties.