Closed lrapetti closed 3 years ago
Chapter 2 Equation 2.75 has an additional $\mathbb{M}$
Given the new CI system, I also accept pull requests that once accepter will be automatically reflected in the generated PDF at https://github.com/traversaro/phd-thesis/pull/9 .
Chapter 2 Equation 2.75 has an additional M
in the same equation it is also missing a sign "-" before the gravity term.
Furthermore, in 2.74 the sign "-" should be a "+" accordingly to 2.73
Fixed in https://github.com/traversaro/phd-thesis/pull/19 by @lrapetti , thanks!
In the Newton-Euler equation for the rigid body in Mixed acceleration, the acceleration is written as right-trivialized ($^A \dot{\mathrm{v}}_{A,B}$) instead of mixed ($^{B[A]} \dot{\mathrm{v}}_{A,B}$)