Skip to content

Prerelase 0.3

Latest
Latest

Choose a tag to compare

View all tags
@mherrmann21 mherrmann21 released this 26 Aug 11:39
0.3
72fd95d

Work in progress release.

Changelog

  • Make OCP cost factors consistent (remove factor 1/2 from TCP tracking cost)
  • Breaking: Update implementation of the geometric Jacobian time derivative. The method computeGeomJacobianTimeDerivative now computes the true time derivative, whereas the acceleration bias matrix (which was previously computed by computeGeomJacobianTimeDerivative) is now computed with the new method computeGeomJacobianAccelerationBiasMatrix. Note that the true time derivative is computationally more expensive, so the cheaper bias matrix is used internally.
Assets 3
Loading