I have a question regarding dynamical modeling. So when we request getMassMatrix() and getCoriolisAndGravityForces(), what we get is is in generalized coordinates. Do it take into effect the holonomic and non-holonomic constraints?
What I mean is in general, system dynamics for robots are given as
where A(q) represents the holonomic and nonholonomic constraints and lambda is the langrange multiplier. So do Dart gives us just M and we have to multiple A ourself or its gives us complete dynamics.
Guidance will be highly appreciated.