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Hi, I was just wondering about some documentation in the chainjnttojacdotsolver
chainjnttojacdotsolver
orocos_kinematics_dynamics/orocos_kdl/src/chainjnttojacdotsolver.hpp
Lines 153 to 165 in 88d5c8f
I see that the formula written is $ \frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} $, but I am not sure that the final $\dot{q}^{j}$ should be there. Indeed in : https://github.com/orocos/orocos_kinematics_dynamics/blob/88d5c8fb189c6cd0f0b2c4c1945ed2b0e315e203/orocos_kdl/src/chainjnttojacdotsolver.cpp#L113-L115 The result of getPartialDerivative is multiplied by qdot(j)
getPartialDerivative
I am using these formulas/codes, so I would just like to be sure about what it is happening inside :D
Thanks!
The text was updated successfully, but these errors were encountered:
I don't have the formulas ready to me. @meyerj @smits could you take this one?
Sorry, something went wrong.
I guess also @ahoarau may know something as the original author of the class.
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Hi, I was just wondering about some documentation in the
chainjnttojacdotsolver
orocos_kinematics_dynamics/orocos_kdl/src/chainjnttojacdotsolver.hpp
Lines 153 to 165 in 88d5c8f
I see that the formula written is $ \frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j}$, but I am not sure that the final $ \dot{q}^{j}$ should be there.
Indeed in :
https://github.com/orocos/orocos_kinematics_dynamics/blob/88d5c8fb189c6cd0f0b2c4c1945ed2b0e315e203/orocos_kdl/src/chainjnttojacdotsolver.cpp#L113-L115
The result of
getPartialDerivative
is multiplied by qdot(j)I am using these formulas/codes, so I would just like to be sure about what it is happening inside :D
Thanks!
The text was updated successfully, but these errors were encountered: