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Compose external force matrix relative to base

composes the external force matrix, which you can use as inputs to `fext`

= externalForce(`robot`

,`bodyname`

,`wrench`

)`inverseDynamics`

and `forwardDynamics`

to apply an external force,
`wrench`

, to the body specified by
`bodyname`

. The
`wrench`

input is assumed to be in the base frame.

composes the external force matrix assuming that `fext`

= externalForce(`robot`

,`bodyname`

,`wrench`

,`configuration`

)`wrench`

is in the `bodyname`

frame for the specified
`configuration`

. The force
matrix `fext`

is given in the base
frame.

[1] Featherstone, Roy.
*Rigid Body Dynamics Algorithms*. Springer US, 2008. DOI.org
(Crossref), doi:10.1007/978-1-4899-7560-7.