Robotics
/
IRDYn
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add check in verify regressor

This commit is contained in:
cosmic_power 2024-09-20 00:13:11 +08:00
parent 0926a14dfd
commit 599ffa1af8
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
verify_regressor.m
View File

@ -56,6 +56,8 @@ j=1;
Vlinear(:, j+1) = BodyVelToLinearVel(V2(:,j+1),G(:,:,j)*M12);
j=2;
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
clear pi;
ndof = robot.ndof;