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add check in verify regressor

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cosmic_power 2024-09-20 00:13:11 +08:00
parent 0926a14dfd
commit 599ffa1af8
1 changed files with 2 additions and 0 deletions
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verify_regressor.m
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@ -56,6 +56,8 @@ j=1;
Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12); Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
j=2; j=2;
Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23); Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M23);
%% Check if screw method is equal to regressor
isequal(simplify(tau),simplify(tau_mat))
%% Numerical %% Numerical
clear pi; clear pi;
ndof = robot.ndof; ndof = robot.ndof;