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orocos / orocos_kinematics_dynamics

Orocos Kinematics and Dynamics C++ library
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A possible typo in a doc formula of chainjnttojacdotsolver #367

Open torydebra opened 2 years ago

torydebra commented 2 years ago

Hi, I was just wondering about some documentation in the chainjnttojacdotsolver

https://github.com/orocos/orocos_kinematics_dynamics/blob/88d5c8fb189c6cd0f0b2c4c1945ed2b0e315e203/orocos_kdl/src/chainjnttojacdotsolver.hpp#L153-L165

I see that the formula written is $ \frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} $, but I am not sure that the final $\dot{q}^{j}$ should be there.
Indeed in : https://github.com/orocos/orocos_kinematics_dynamics/blob/88d5c8fb189c6cd0f0b2c4c1945ed2b0e315e203/orocos_kdl/src/chainjnttojacdotsolver.cpp#L113-L115 The result of getPartialDerivative is multiplied by qdot(j)

I am using these formulas/codes, so I would just like to be sure about what it is happening inside :D

Thanks!

MatthijsBurgh commented 2 years ago

I don't have the formulas ready to me. @meyerj @smits could you take this one?

traversaro commented 2 years ago

I guess also @ahoarau may know something as the original author of the class.