Adding a new function to recover generalizedGravityForces.

[ZzhengP]

const Eigen::VectorXd& RobotDynTree::generalizedGravityForces()
{
    kinDynComp_.generalizedGravityForces(robotData_.generalizedGravityForces);
    robotData_.eigGeneralizedGravityForces.head(6) = iDynTree::toEigen(robotData_.generalizedGravityForces.baseWrench());
    robotData_.eigGeneralizedGravityForces.tail(kinDynComp_.getNrOfDegreesOfFreedom()) = iDynTree::toEigen(robotData_.generalizedGravityForces.jointTorques());
    return robotData_.eigGeneralizedGravityForces;
}

[ahoarau]

What do you mean by adding a new function ?

[ZzhengP]

In RobotDyn class, we can't recover only generalizedGravityForces to compute gravityregularisation task, because generaliZedBiasdForces return Gravity + Coriolis. So, i have to add generalizedGravityForces in RobotDyn class.

[ahoarau]

You can get the subvector :

Eigen::VectorXd gravity_torques = robot->generalizedGravityForces().segment(6,kinDynComp_.getNrOfDegreesOfFreedom());

[ZzhengP]

Thank you.