stack-of-tasks/tsid

questions for task-se3-equality

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timothy233 commented

Hi, I looked at the code for task-se3-equality.cpp and has some confusion about frame position in local frame. it calls m_robot.framePosition(data, m_frame_id, oMi) (line 172) to compute the frame placement in local frame. However, I check the code of robot_wrapper.cpp. It seems m_robot.framePosition return the placement in world frame (line 219): framePosition = data.oMi[f.parent].act(f.placement). Did I misunderstand something?

Another newbie question, the code uses m_robot.frameClassicAcceleration to compute m_drift=jdot * v. Can you point me to the proof why these two quantities are the same?

timothy233 commented

I think I find answers of these two problems by looking at issue #90 and #73. I will close it

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