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petercorke / robotics-toolbox-matlab

Robotics Toolbox for MATLAB
GNU Lesser General Public License v2.1
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Fix payload addition in SerialLink #30

Open grozail opened 6 years ago

grozail commented 6 years ago

Noticed that you had TODO to fix payload method. Previous behavior is quite confusing since it overrides dynamics of the last link instead of parameter recalculation.

petercorke commented 4 years ago

Why did you remove thejointdynamics method? It's quite independent of the payload change that you did? Also, do you have code that you used to test the new functionality that be folded into the unit tests?