From 52b837782b9a195bc674dee1ca38bf6835ee1a77 Mon Sep 17 00:00:00 2001 From: giulero Date: Fri, 21 Jun 2024 18:04:40 +0200 Subject: [PATCH] Add some comments in the casadi example in the readme --- README.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/README.md b/README.md index b191128c..fa1b559a 100644 --- a/README.md +++ b/README.md @@ -211,6 +211,20 @@ w_H_b = np.eye(4) joints = np.ones(len(joints_name_list)) M = kinDyn.mass_matrix_fun() print(M(w_H_b, joints)) + +# If you want to use the symbolic version +w_H_b = cs.SX.eye(4) +joints = cs.SX.sym('joints', len(joints_name_list)) +M = kinDyn.mass_matrix_fun() +print(M(w_H_b, joints)) + +# This is usable also with casadi.MX +w_H_b = cs.MX.eye(4) +joints = cs.MX.sym('joints', len(joints_name_list)) +M = kinDyn.mass_matrix_fun() +print(M(w_H_b, joints)) + + ``` ### PyTorch interface