Closed danbarla closed 2 years ago
In this PR we will integrate the Chain class in cpp. The Chain class represents an open kinematic chain and helps model the Wrench exerted on the body using joint torques and the Jacobian.
Good progress! Please request a re-review when you want me to look again.
@varunagrawal @dellaert Thanks for the reviews. merging.
Great work @danbarla! Looking forward to using this in my state estimator 😄
In this PR we will integrate the Chain class in cpp. The Chain class represents an open kinematic chain and helps model the Wrench exerted on the body using joint torques and the Jacobian.