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robotology / wb-toolbox

Simulink toolbox to rapidly prototype robot controllers
https://robotology.github.io/wb-toolbox/
GNU Lesser General Public License v2.1
24 stars 17 forks source link

Add relative jacobian #226

Closed HosameldinMohamed closed 2 years ago

HosameldinMohamed commented 3 years ago

Adds a block that computes the Relative Jacobian, implementing https://github.com/robotology/idyntree/blob/f9051752ca5a6ca8f3a4f101e4a536fe1eb62c5f/src/high-level/src/KinDynComputations.cpp#L1661-L1663

See #225

traversaro commented 3 years ago

Please ignore codacy, it is a false positive as the analyzer don't get Eigen::Map semantics.

HosameldinMohamed commented 2 years ago

@traversaro I addressed your previous comments, ready for review again.

traversaro commented 2 years ago

Great! Can you rebase this branch on master, and update the CHANGELOG ?

HosameldinMohamed commented 2 years ago

Great! Can you rebase this branch on master, and update the CHANGELOG ?

Done in https://github.com/robotology/wb-toolbox/commit/d19eba84f8518e1f00c30296c1cc0747633d6e14

traversaro commented 2 years ago

@HosameldinMohamed do you have any planned future improvements? If not, I think I can proceed with a release before we forget about it.

HosameldinMohamed commented 2 years ago

@HosameldinMohamed do you have any planned future improvements? If not, I think I can proceed with a release before we forget about it.

@traversaro nothing at the moment.

HosameldinMohamed commented 2 years ago

Thanks!