Quick links:
- Doc: https://gepettoweb.laas.fr/doc/stack-of-tasks/pinocchio/master/doxygen-html/
- Cheat sheet: https://github.com/fabinsch/pinocchio/blob/main/doc/pinocchio_cheat_sheet.pdf
What are
oMi,oMfand other terms indata?
oMiis "Body absolute placement (wrt world)"oMfis "frames absolute placement (wrt world)"
See the source code for more details.
What is the
actInvmethod?
actInv is the inverse of "this" times "other". See the source code.