Chapter 2 Equation 2.85 typo - Githubissues

traversaro / traversaro-phd-thesis

Modelling, Estimation and Identification of Humanoid Robots Dynamics: Silvio Traversaro's PhD Thesis.

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Chapter 2 Equation 2.85 typo #6

Closed lrapetti closed 3 years ago

lrapetti commented 4 years ago

In the following equation for the Rigid Body total momentum derivate Screen Shot 2019-08-30 at 12 01 47

I think there are the two following typos:

in the second equation, the wrenches should be expressed as $_{G[A]}f\^x$ (in $G[A]$ reference).
in the third equation the rotation matrix $^ARG^T$ should not be present since it cancels out after multiplying by $\{G[A]}X^B$.
in the second equation I think it would be also good to express respect to which frame $g$ is defined, and to specify the rotation matrix $R^T$ where is defined (${R^T}g \to {^AR_G^T}^Ag$)

traversaro commented 3 years ago

Fixed in https://github.com/traversaro/phd-thesis/pull/19 .