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ROAM-Lab-ND / spatial_v2_extended

Extended version of Featherstone's spatial_v2 package
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Provide complex step support for Hinverse algo #1

Closed shubhamsingh91 closed 2 years ago

shubhamsingh91 commented 2 years ago

I used the Hinverse (part of FDderivatives) to take the SO partial of Forward Dynamics. It needs the element by element transposes for using it in complex step

pwensing commented 2 years ago

@shubhamsingh91 should be fixed now. Please re-open if having any issues.