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add SpatialInertia

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cosmic_power 2023-10-31 00:54:53 +08:00
parent 8967270c39
commit 10097c8db4
1 changed files with 10 additions and 0 deletions
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packages/MATLAB/mr/SpatialInertia.m Normal file
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function Glist = SpatialInertia(G)
% *** CHAPTER x: DYNAMICS OF OPEN CHAINS ***
% Takes G: A list of inertia,
% Returns Glist: Spatial inertia matrices Gi of the links
n = size(G,1);
Glist = zeros(6,6,n);
for i = 1:n
Glist(:,:,i) = diag(G(i,1:6));
end