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laas / metapod

A template-based robot dynamics library
GNU Lesser General Public License v3.0
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Reinstate algorithms #54

Closed sbarthelemy closed 11 years ago

sbarthelemy commented 11 years ago

reinstate the getTorque and jac_point* algorithms which were not ported yet to the new data structure.

Also add the "jac" algorithm, as an alternative to the jac_point* ones. It computes all the jacobians in one go, and is faster for this use case.