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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
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AdjointMap Jacobians 2 #358

Closed varunagrawal closed 2 years ago

varunagrawal commented 2 years ago

This PR updates #292 so we can land it.

Unfortunately, I cannot completely eliminate AdjointMapJacobianQ since Chain::DynamicalEquality3 requires it. One solution would be to move the jacobian computation of AdjointMap to GTSAM. This would be a nice add-on.

@danbarla requesting your review since I made some changes to Chain.cpp.

varunagrawal commented 2 years ago

Okay I undid the changes @danbarla

varunagrawal commented 2 years ago

Merging since this was pretty much copy-pasta from Gerry's PR.