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According to Whole-body Motion Planning with Centroidal Dynamics and Full Kinematics (Hongkai Dai, Andrés Valenzuela and Russ Tedrake)

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Following the reference, one eventually arrives Resolved Momentum Control: Humanoid Motion Planning based on the Linear and Angular Momentum (Shuuji KAJITA, Fumio KANEHIRO, Kenji KANEKO, Kiyoshi FUJIWARA, Kensuke HARADA, Kazuhito YOKOI and Hirohisa HIRUKAWA)

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Does drake currently provide any method for computing this centroidal momentum matrix A(q) or the H matrix (of which I believe A(q) = [0, I_tilde, H])?

Rufus
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  • Judging by https://github.com/RobotLocomotion/drake/issues/10779, I would guess it's not yet implemented.. – Rufus Aug 17 '20 at 15:37
  • would you please take a look at the proposal in issue 10779 and let us know what would be most useful for you? – Sherm Aug 19 '20 at 02:57

2 Answers2

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Pull request #13916 was just merged today (October 2, 2020) and resolves issue #10779. For example, you can calculate spatial momentum — which contains both translational (linear) and rotational (angular) momentum with a command such as:

plant_.CalcSpatialMomentumInWorldAboutPoint(*context_, p_WoP_W);

There are more examples in the file: multibody/plant/test/multibody_plant_momentum_energy_test.cc

ponsfrilus
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Mitiguy
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Later today, I'll take a look at this to see if there is an existing API -- or if one can be created relatively quickly.

Mitiguy
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