Fix Coriolis Matrix Algorithm for any floating base choice#1288
Draft
LoreMoretti wants to merge 6 commits into
Draft
Fix Coriolis Matrix Algorithm for any floating base choice#1288LoreMoretti wants to merge 6 commits into
LoreMoretti wants to merge 6 commits into
Conversation
Contributor
Author
|
Regarding:
I am thinking of using what explained in Section 3.8 of https://github.com/traversaro/traversaro-phd-thesis |
Contributor
Author
|
I am missing just to fix the case where the floating base is an additional frame of a link and the velocity representation is the mixed one. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR closes #1287.
Namely, it fixes the computations when:
linkIndex != 0It should be merged after #1286