Cleanup SpatialInertia documentation #435

traversaro · 2018-04-11T21:10:13Z

@prashanthr05 Note that to build the documentation locally you need to run the dox target (i.e. make dox) and have doxygen installed (apt install doxygen).

prashanthr05 · 2018-04-11T23:19:53Z

src/core/include/iDynTree/Core/SpatialInertia.h

+        /**
+         * @brief Get the SpatialInertia as a 6x6 matrix
+         *
+         * If \f$ m \in \mathbb{R}^3 \f$ is the mass,


Shouldn't m \in \mathbb{R} rather than \mathbb{R}^3 ?

prashanthr05 · 2018-04-11T23:21:25Z

src/core/include/iDynTree/Core/SpatialInertia.h

+         * \f$ 1_3 \in \mathbb{R}^{3 \times 3} \f$ is the 3d identity matrix this
+         * method returns the \f$ M \in \mathbb{R}^{6 \times 6} \f$ matrix such that:
+         * \f[
+         *  M =


Would it be better to express the spatial inertia as \mathbb{M} than M ?

prashanthr05 · 2018-04-11T23:30:45Z

src/core/include/iDynTree/Core/SpatialInertiaRaw.h

-        double m_mass; /** mass */
-        double m_mcom[3]; /** first moment of mass (i.e. mass * center of mass */
-        RotationalInertiaRaw m_rotInertia; /** rotational inertia */
+        double m_mass; /** Mass. */


These aside comments are passed on as documentation to the next variable declaration. For instance, "Mass" is documented in m_mcom[3].

Use ///< My comment

prashanthr05 · 2018-04-11T23:42:21Z

src/core/include/iDynTree/Core/SpatialInertia.h

-         * Defining \f$ M \f$ as this inertia, return the derivative
-         * with respect to V  of the bias wrench V.cross(M*V).
+         * Defining \f$ M \in \mathbb{R}^{6 \times 6} \f$ as this inertia, return the derivative
+         * with respect to \f$ \mathrm{v} = \begin{bmatrix} v \\ \omega \end{bmatrix} \in \mathbb{R}^6 \f$


In the documentation of method biasWrench(const Twist& v), there is a missing identity matrix 1_3 in the 6d inertia matrix defintion.

The 6D link velocity is denoted with capital V in that method, which is different from the small v notation used in this method.

I am not getting this comment.

Throughout the documentation $m$ is denoted as the mass of the rigid body. So when denoted in the 6D inertia matrix, shouldnt it wrtten as $m1_{3}$, where $1_{3}$ is a $3 \times 3$ identity matrix.

Correct me if I'm wrong.

You are perfectly right.

prashanthr05 · 2018-04-11T23:49:16Z

src/core/include/iDynTree/Core/SpatialInertia.h

@@ -121,12 +137,12 @@ namespace iDynTree
         * |:--------:|:-------:|:--------:|
         * |     0    | \f$ m \f$ | The mass of the rigid body |
         * |  2-4     |  \f$ m c \f$      | The first moment of mass of the rigid body |
-         * |  5-9     | \f$ \operatorname{vech}(I_o) \f$ | The 6 indipendent elements of the 3d inertia matrix (\f$ I_{xx} I_{xy} I_{xz} I_{yy} I_{yz} I_{zz} \f$). |
+         * |  5-9     | \f$ \mathop{vech}(I) \f$ | The 6 indipendent elements of the 3d inertia matrix, i.e. \f$ \begin{bmatrix} I_{xx} \\  I_{xy} \\  I_{xz} \\  I_{yy} \\  I_{yz} \\  I_{zz} \end{bmatrix} \f$ . |


mc elements 1-3; vech(I) elements 4-9 ?

prashanthr05 · 2018-04-11T23:49:59Z

src/core/include/iDynTree/Core/SpatialInertia.h

@@ -121,12 +137,12 @@ namespace iDynTree
         * |:--------:|:-------:|:--------:|
         * |     0    | \f$ m \f$ | The mass of the rigid body |
         * |  2-4     |  \f$ m c \f$      | The first moment of mass of the rigid body |
-         * |  5-9     | \f$ \operatorname{vech}(I_o) \f$ | The 6 indipendent elements of the 3d inertia matrix (\f$ I_{xx} I_{xy} I_{xz} I_{yy} I_{yz} I_{zz} \f$). |
+         * |  5-9     | \f$ \mathop{vech}(I) \f$ | The 6 indipendent elements of the 3d inertia matrix, i.e. \f$ \begin{bmatrix} I_{xx} \\  I_{xy} \\  I_{xz} \\  I_{yy} \\  I_{yz} \\  I_{zz} \end{bmatrix} \f$ . |


independent*

prashanthr05 · 2018-04-11T23:52:51Z

src/core/include/iDynTree/Core/SpatialInertia.h

         * \f]
         *
-         * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ I \f$ .
+         * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ M \f$,


\mathbb{R}^{10}

prashanthr05 · 2018-04-11T23:55:29Z

src/core/include/iDynTree/Core/SpatialInertia.h

         * \f]
         *
-         * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ I \f$
+         * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ M \f$,


\mathbb{R}^{10}

prashanthr05 · 2018-04-11T23:57:36Z

src/core/include/iDynTree/Core/SpatialInertia.h

@@ -195,17 +213,18 @@ namespace iDynTree
         *
         * Get the matrix
         * \f[
-         *   Y(v,v_r,a_r) \in \mathbb{R}^{6\times6}
+         *   Y(\mathrm{v},\mathrm{v}_r,a_r) \in \mathbb{R}^{6\times6}


Y(\mathrm{v},\mathrm{v}_r,a_r) \in \mathbb{R}^{6\times10} ?

prashanthr05 · 2018-04-11T23:59:17Z

src/core/include/iDynTree/Core/SpatialInertia.h

         * \f]
         *
-         * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ I \f$
+         * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ M \f$, as returned by the


\mathbb{R}^{10}

traversaro · 2018-08-22T11:47:41Z

@prashanthr05 I should have addressed all comments, except for #435 (comment) that I am not getting what I should fix.

[ci skip]

prashanthr05 · 2018-08-23T15:21:35Z

@traversaro if you address that one last comment We can merge this PR.

traversaro · 2018-08-27T07:39:11Z

@prashanthr05 Done. Let me know if you can/want check this from India, otherwise I can merge as it is.

prashanthr05 · 2018-08-27T07:45:59Z

@traversaro done. You can merge it :)

traversaro requested a review from prashanthr05 April 11, 2018 21:10

drdanz added the Status: In Progress label Apr 11, 2018

prashanthr05 reviewed Apr 11, 2018

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traversaro changed the title ~~Cleanup SpatialInertia documentation~~ [WIP] Cleanup SpatialInertia documentation May 8, 2018

traversaro added 2 commits August 22, 2018 13:31

Cleanup SpatialInertia documentation

25271a8

Address review comments

a4546be

traversaro force-pushed the fix/inertiaDocs branch from 196851a to a4546be Compare August 22, 2018 11:46

traversaro changed the title ~~[WIP] Cleanup SpatialInertia documentation~~ Cleanup SpatialInertia documentation Aug 22, 2018

Update release docs

47cee52

[ci skip]

Add missing identity in biasWrench docs

7c07714

prashanthr05 approved these changes Aug 27, 2018

View reviewed changes

traversaro merged commit 6521f88 into robotology:devel Aug 27, 2018

traversaro deleted the fix/inertiaDocs branch August 27, 2018 08:11

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Cleanup SpatialInertia documentation #435

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traversaro commented Aug 27, 2018 •

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prashanthr05 commented Aug 27, 2018

Cleanup SpatialInertia documentation #435

Cleanup SpatialInertia documentation #435

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traversaro commented Apr 11, 2018

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traversaro commented Aug 22, 2018

prashanthr05 commented Aug 23, 2018

traversaro commented Aug 27, 2018 • edited Loading

prashanthr05 commented Aug 27, 2018

traversaro commented Aug 27, 2018 •

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