Add velocity representations #48
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flferretti
reviewed
Oct 12, 2023
flferretti
approved these changes
Oct 12, 2023
Co-authored-by: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com>
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Thanks @flferretti for the review! I addressed the suggestions. |
lrapetti
reviewed
Oct 12, 2023
Co-authored-by: Lorenzo Rapetti <lor.rapetti@gmail.com>
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Thanks guys! I should have tackled all the suggestions! |
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Merging! |
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With this PR I'm gonna add the body fixed (or left trivialized) velocity representation.
I took also the occasion to implement the$\dot{J}$ function which represents the time-derivative of the Jacobian! See #27
I added the usual tests comparing the output of the function
jacobian_dotwith iDyntree functiongetFrameBiasAcc(frame).Ready to be reviewed! The tests should be a good starting point, then I will update the readme accordingly.