pinocchio_dynamics_solver_inverse_dynamics.cpp

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//
// Copyright (c) 2019, Wolfgang Merkt
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#include <exotica_pinocchio_dynamics_solver/pinocchio_dynamics_solver.h>

#include <pinocchio/algorithm/rnea.hpp>

namespace exotica
{
Eigen::VectorXd PinocchioDynamicsSolver::InverseDynamics(const StateVector& x)
{
    // compute dynamic drift -- Coriolis, centrifugal, gravity
    // Assume 0 acceleration
    Eigen::VectorXd u = pinocchio::rnea(model_, *pinocchio_data_.get(), x.head(num_positions_), x.tail(num_velocities_), Eigen::VectorXd::Zero(num_velocities_));

    return u;
}
}  // namespace exotica