How to calculate the generalized velocity from time derivative of generalized position? #2499

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Zionshang asked this question in Q&A

Zionshang
Dec 4, 2024

This is a further discussion of #2493.
Is there a unified method to calculate generalized velocity from time derivative of generalized position? Like

v = pinocchio::getVelocityFromTimeDerivativePosition(q, dq)

In other words, how to calculate the corresponding Lie algebra for a Lie group with a given configuration directly ?

Thank you very much!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

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