How to get Coriolis and Centrifugal forces matrix from KDL

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Getting a C(q, q_dot) matrix numerically is possible but I guess it's not actually unique.

This paper talks about one method to get a Coriolis/Centrifugal matrix that is suitable for both the arm dynamics and satisfying the extra skew-symmetry of Mdot-2C that I think the typical symbolic algorithms in textbooks give you:

https://arxiv.org/abs/2010.01033 https://asmedigitalcollection.asme.or...

If you look at the footnotes 1 and 2 in the ArXiV version it seems like the Pinocchio rigid body dynamics library actually implements this paper now. That might be an option instead of KDL or you could see if it's helpful for the C++ implementation in terms of other KDL calculations.

https://github.com/stack-of-tasks/pin...

It looks like it's released for Galactic.