1. Martin Felis
  2. rbdl
  3. Issues
Issue #7 resolved

Documentation update for Model::SetFloatingBaseBody

Antonio El Khoury
created an issue

The documentation for Model::SetFloatingBaseBody says that the free-flyer joint is simulated by adding 5 mass-less bodies and 6 joints at the root of the tree.

By looking at Model.c, it seems to me that the free-flyer joint is created simply by specifying 6 spatial vectors. I think therefore that the documentation for this method should be updated.

Comments (2)

  1. Martin Felis

    Technically the same thing still applies as internally the same approach is taken. What has changed however is that the floating base is now modelled using a 6 DoF joint.

    I close this issue as soon as I have updated the documentation to reflect this.

    Thanks for reporting.

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