samirmenon / scl-manips-v2 / issues / #55 - Dynamics Jacobians wrt. arbit link and with local xyz offset — Bitbucket

Issue #55 duplicate

Samir Menon repo owner created an issue 2013-07-22

Need to dig into the dynamics engine implementation and enable Jacobians wrt. some arbit link, and Jacobians with local xyz offset wrt node.

As of now, the lack of these functions imposes a great performance penalty on localized Jacobians (like in muscles).

Alt. Consider using alternative dynamics engines like Simbody for these.

Comments (3)

Samir Menon reporter
Also need to compute only the translation Jacobian if required (op point control).
- 2013-07-22T08:29:03+00:00
Samir Menon reporter
Related computations have a bug.
- 2013-09-13T05:33:21+00:00
Samir Menon reporter
- changed status to duplicate
Duplicate of ~~#97~~.
- 2013-09-13T05:33:26+00:00
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Assignee: Samir Menon

Type: enhancement

Priority: major

Status: duplicate

Votes: 0

Watchers: 1

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