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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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fix relative Jacobians #78

Closed BenjaminNavarro closed 9 months ago

BenjaminNavarro commented 3 years ago

It is possible to construct relative Jacobians without any duplicated joints (e.g both chains end at root). Trying to remove joints in this case is undefined behavior.

The added check catch this case and skip the joint removal