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Example 1.1: Typo in \qddot equation, Coriolis terms missing \qdot product #81

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EricCousineau-TRI opened this issue Feb 13, 2018 · 0 comments
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Example 1.1: Typo in \qddot equation, Coriolis terms missing \qdot product #81

EricCousineau-TRI opened this issue Feb 13, 2018 · 0 comments

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@EricCousineau-TRI
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The rigid body equations in terms of \qddot are presently written as:
q¨=M^{−1}(q)[τg(q)+Bu−C(q,q˙)]

but it seems that it should be:
q¨=M^{−1}(q)[τg(q)+Bu−C(q,q˙)q˙]
@EricCousineau-TRI EricCousineau-TRI changed the title Example 1.1: Typo in \qddot equation, Coriolis terms missing \qdot product Example 1.1: Typo in \qddot equation, Coriolis terms missing \qdot product operand Feb 13, 2018
@EricCousineau-TRI EricCousineau-TRI changed the title Example 1.1: Typo in \qddot equation, Coriolis terms missing \qdot product operand Example 1.1: Typo in \qddot equation, Coriolis terms missing \qdot product Feb 13, 2018
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