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jrl-umi3218
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Tasks
The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.
BSD 2-Clause "Simplified" License
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Fix torque derivative constraint
#70
Closed
gergondet
closed
4 years ago
gergondet
commented
4 years ago
On the first iteration do not consider the torque derivative limits
Correctly use the last computed torques