dof | field calculator and comparison tool

I think IsControllable() is doing the right thing. If you have a single body with a floating base, then you have 13 state variables (7 positions, 6 velocities). If you were to simply linearize the equations, then you are right that the resulting linear system would not know about the unit quaternion constraint. Asking for controllability of this system would be asking you to drive the system to the origin (quaternion => 0 ~= unit quaternion). Since your dynamics model cannot achieve that, even in the linearization, I expect your system is not controllable in that linearization.

You could replace the quaternion floating base with a roll-pitch-yaw floating base. We have some API that will make that easier coming in https://github.com/RobotLocomotion/drake/issues/14949 . But in the mean time, you can add the three translations and a BallRpyJoint.

The alternative to look into the literature on control in SE(3) directly using quaternions. There are elegant results there, but linear analysis won’t help.

You can not read properties containing hyphens in the property name like this :

'-', '+', '*' etc. are operands. You can understand why they will not work.

The permissions are added by the dependencies of your app. An android manifest file is automatically merged with the manifest files of its dependencies.

The top manifest file has the priority and can alter the values of the manifest files in its dependencies.

To remove a permission, use the tools:node="remove" tag. For example, to remove the RECORD_AUDIO permission, add this line to your app's manifest file between the XML tags:

I believe the idiomatic way in SwiftUI 2.0 is to instantiate the model as a @StateObject towards the top of the application's view hierarchy and to then add it to the environment for descendant view to consume, e.g.

Are you looking for:

fitstat(feglm_outp ,'g')

You can use this example how to get data from this page:

DH Parameters allow us to fill in the elements of our transformation matrices according to a schema. This schema has some limitations to it, which sometimes calls for clever tricks to get by any issues - but more on that in a minute.

First off, about the parameters themseleves.

• d is the distance between two frames i and (i-1) along the z axis of (i-1).
• a - or r in your case - is the distance between two frames i and (i-1) along the x axis of i.
• theta is the angle between the x axes of i and (i-1) about the positive z axis of the (i-1) frame
• alpha is the angle between the z axes about the newly rotated x axis after the rotation of theta has been applied

Furthermore, DH notation presupposes the following about the axes of the coordinate frames:

• the z-axis always points along the axis of actuation (that is, rotation in your case).
• the x-axis of the frame i has to intersect the z-axis of the frame (i-1)
• the y-axis is set such that the frame forms a right-hand coordinate system

Below is an image of your system in the home pose with coordinate frames applied according to DH notation.

As you might notice, DH Notation does not allow for a displacement between the rotation and torison joint frames. This is not a problem, since mathematically it does not make a difference on where the rotation occurrs. The curved lines denote that the relevant frames are placed in the same position for notation purposes.

Now the only thing you have to do is think about where the rotations of your joints might be inserted into the DH-table as well as the displacement beteween the rotational frames (l1 through 4).

You may then insert the DH Parameters into the DH Matrix for each frame and use these transformations for your kinematic calculations.

For future questions, you might want to think about posting them at the Robotics Stack Exchange site, it will probably be easier to get an answer there very quick.

The two methods may be identical in their defined behavior, depending on the type of rawTemp, which we are not shown. However, neither is a generally correct way to decode an int16_t value from two eight-bit bytes.

Considering this code first:

Try unlist(yourList) before writing it into the data frame.