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sachinumans / SAUmansThesis

All code written for the Systems&Control Master of Science thesis of Sachin Umans
MIT License
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Rewrite EoM functions in relative vectors #29

Closed sachinumans closed 1 year ago

sachinumans commented 1 year ago

Rewrite the EoM functions such that ONLY the CoM is expressed in world coordinates, and all other points (including feet) are in body coordinates.