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jrl-umi3218 / RBDyn

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
BSD 2-Clause "Simplified" License
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Topic/add full jacobian #46

Closed wuv-ogre closed 6 years ago

wuv-ogre commented 6 years ago

added addFullJacobian() and sAddFullJacobian() changed Momentum.cpp to use addFullJacobian() which overal removes the adding of many zeros

haudren commented 6 years ago

Note that this PR prompted me to submit my own #49 . It might be useful, performance-wise to use the compactPath defined there as it copies the largest contiguous blocks of joints instead of doing it joint by joint.

gergondet commented 6 years ago

Closed by #49