SimTK: PrRobot Multibody Dynamics Library: [#47] addExternalForce() & Moment should be recursive

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Date:
2005-07-14 04:23

Priority:
3

State:
Open

Submitted by:
Michael Sherman (sherm)

Assigned to:
Michael Sherman (sherm)

Summary:
addExternalForce() & Moment should be recursive

Detailed description
These routines calculate a Jacobian matrix and then multiply the supplied force by its Jacobian. That's expensive! Should be done recursively by sweeping the force down the tree. (And that should happen only once for a whole collection of Cartesian forces.) Also, addExternalMoment() looks wrong. It takes a point as input but that should not be required for a Moment.
These routines calculate a Jacobian matrix and then multiply the supplied force by its Jacobian. That's expensive! Should be done recursively by sweeping the force down the tree. (And that should happen only once for a whole collection of Cartesian forces.) Also, addExternalMoment() looks wrong. It takes a point as input but that should not be required for a Moment.

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SimTK is maintained through Grant R01GM124443 01A1 from the National Institutes of Health (NIH). It was initially developed as part of the Simbios project funded by the NIH as part of the NIH Roadmap for Medical Research, Grant U54 GM072970.

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