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Hello Pinocchio Team!
I have previously contributed kinetic and potential energy regressors, which are useful for system identification and adaptation. Now, it is time to extend this with momentum regressors.
Derivation Overview
Below is a quick derivation to support my code:
Next, we consider the derivative of the momentum:
For system identification, we can construct the following equation:
Changes Introduced in the PR
In my PR, I have augmented the
data
structure with two members:data.momentumRegressor
anddata.dpartial_lagrangian_q
. These fields will be populated after the call tocomputeMomentumRegressor
.I am looking forward to your review and am open to any questions or comments!
Additionally, I am excited to gain experience writing C++ code. If there are any changes needed, I would prefer to make them myself rather than having you do it, as it would be a great learning opportunity for me. 😊