Fix alternative velocity representations of new functional APIs #99
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The intermediate link jacobians were computed with the wrong output representation. The to_output helper requires link jacobians to have an inertial-fixed output representation.
The link forces passed as inputs are always in the active representation of data. Therefore, they need to be converted to Inertial before passing them to RNEA.
flferretti
approved these changes
Mar 6, 2024
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step does not use the argument model
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Yep I'm aware and this is/was something wanted. There might be alternative step* methods in the future requiring model for internal computations. It was needed by the semi-implicit integrators, but probably with the most recent structure is no longer needed.
I leave a reminder in my code to check this sooner or later, likely when I'll upstream the semi-implicit integrators.
traversaro
approved these changes
Mar 6, 2024
diegoferigo
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diegoferigo
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I'm in the process of developing unit tests of the new functional APIs and I found multiple bugs in velocity representations different from
VelRepr.Inertial. While waiting the tests to be ready to be pushed upstream, this PR aims at fixing the found bugs.📚 Documentation preview 📚: https://jaxsim--99.org.readthedocs.build//99/