From 010d6c854de96057e585af2f2178c775e7550c67 Mon Sep 17 00:00:00 2001 From: Justin Carpentier Date: Wed, 18 Sep 2024 14:40:11 +0200 Subject: [PATCH] algo/rnea: remove useless lines in pasitivity RNEA --- include/pinocchio/algorithm/rnea.hxx | 7 ------- 1 file changed, 7 deletions(-) diff --git a/include/pinocchio/algorithm/rnea.hxx b/include/pinocchio/algorithm/rnea.hxx index d75ddb6fff..7a83fd2757 100644 --- a/include/pinocchio/algorithm/rnea.hxx +++ b/include/pinocchio/algorithm/rnea.hxx @@ -279,9 +279,6 @@ namespace pinocchio data.a_gf[i] = jdata.c() + (data.v[i] ^ jdata.v()); data.a_gf[i] += jdata.S() * jmodel.jointVelocitySelector(a_r); data.a_gf[i] += data.liMi[i].actInv(data.a_gf[parent]); - // - // data.f[i] = model.inertias[i]*data.a_gf[i];// + model.inertias[i].vxiv(data.v[i]); - // // -f_ext data.h[i] = model.inertias[i]*data.v[i]; // model.inertias[i].__mult__(data.v_r[i], data.h[i]); // option 1 data.B[i] = model.inertias[i].variation(Scalar(0.5) * data.v[i]); @@ -291,10 +288,6 @@ namespace pinocchio model.inertias[i].__mult__(data.a_gf[i], data.f[i]); // data.f[i] += data.v[i].cross(data.h[i]); // option 1 data.f[i] += Force(data.B[i] * data.v_r[i].toVector()); // option 3 (Christoffel-consistent factorization) - - // data.h[i].motionAction(data.v[i],data.f[i]); - // data.f[i] = model.inertias[i].vxiv(data.v[i]); - // data.f[i].setZero(); } template