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Relative jacobian fix #109

Merged
merged 2 commits into from
Nov 13, 2023
Merged

Relative jacobian fix #109

merged 2 commits into from
Nov 13, 2023

Commits on Nov 3, 2023

  1. [RBDyn] Do not try to remove joints if both ends of a relative jacobi… 

    …an ends at root

it is possible to construct relative Jacobians without any duplicated
joints (e.g both chains end at root). Trying to remove joints in this
case is undefined behavior
    @BenjaminNavarro
    BenjaminNavarro committed Nov 3, 2023
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  2. [RBDyn] fix possible incorrect joint path for relative jacobians 

    If both bodies belong to the same chain then the parent joint of the
reference body was always included, possibly increasing the number
of dofs
    @BenjaminNavarro
    BenjaminNavarro committed Nov 3, 2023
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