Hi,

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

M(q)\ddot{q}+H(\dot{q},q)+V\dot{q}+G=E\tau+A(q)^{T}λ

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.

Thanks