Compute the total angular momentum of a model
Posted: Mon Feb 25, 2019 2:05 am
Hello all,
I'm working with OpenSim API 3.3 to perform simulations in an optimal control algorithm. I wanted to compute the total angular momentum about the COM of the model. For now I found the function calcBodyMomentumAboutBodyMassCenterInGround() that calculates the angular and linear momenta about the COM of each body of the model. However, I would like to obtain the angular momentum of the whole multibody system. Is there any function that computes what I look for? Or do you have any suggestion for calculating it?
Any help or idea is really appreciated. Thanks!
Roger
I'm working with OpenSim API 3.3 to perform simulations in an optimal control algorithm. I wanted to compute the total angular momentum about the COM of the model. For now I found the function calcBodyMomentumAboutBodyMassCenterInGround() that calculates the angular and linear momenta about the COM of each body of the model. However, I would like to obtain the angular momentum of the whole multibody system. Is there any function that computes what I look for? Or do you have any suggestion for calculating it?
Any help or idea is really appreciated. Thanks!
Roger