Cloning a model with his constraints #2642
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Hello everyone, i need help to know if it's possible to clone a model with his actual configuration (q,qdot and torques) and his constraints to make prediction loop. I see that's possible for aba and rnea(abaInParallel and rneaInParallel) functions but there no exist's same function for constraintDynamics(). I already tried to just copy the model, data and constraintmodel and data from the original model at time t but the function sends me an error about the form of the constraint array. |
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This feature is not yet available but in preparation for Pinocchio 4 (under construction). |
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Ok Thank you for your answer. |
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This feature is not yet available but in preparation for Pinocchio 4 (under construction).