Wiki
Clone wikiscl-manips-v2 / howdoi / dyn_compute_matrices
Accessing SRigidBodyDyn Computing Robot Matrices
- First get access to your CRobot object. This should typically be in the app.
- Next, get a rigid body dyn using the following code:
SRigidBodyDyn * rbd_obj = robot_.getControllerDataStruct(ctrl_name_)->gc_model_.rbdyn_tree_.at(link_name);
Updated