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Add algorithm to compute the Jacobian derivative of a link #169

Merged
merged 5 commits into from
Jun 5, 2024
Merged

Add algorithm to compute the Jacobian derivative of a link #169

merged 5 commits into from
Jun 5, 2024

Commits on Jun 5, 2024

  1. Add new RBDA to compute the doubly-left full Jacobian derivative

    @diegoferigo
    diegoferigo committed Jun 5, 2024
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  2. Add jaxsim.api.link.jacobian_derivative to compute J̇

    @diegoferigo
    diegoferigo committed Jun 5, 2024
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  3. Add test of jacobian derivative

    @diegoferigo
    diegoferigo committed Jun 5, 2024
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  4. Extend jacobian derivative test to all model's links

    @diegoferigo
    diegoferigo committed Jun 5, 2024
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  5. Address review 

    Co-authored-by: Filippo Luca Ferretti <[email protected]>
    @diegoferigo @flferretti
    diegoferigo and flferretti committed Jun 5, 2024
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