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base: Robotics:0926a14dfdb5fb61eadf6319c216b3c53e292eae
Branches Tags
Robotics:main
Robotics:feature/calulated-col-force
Robotics:test/grab-to-unstow
Robotics:feature/Make-GC-Compilable
Robotics:feature/R1000-identification
Robotics:test/R1000-test
Robotics:feature/add-regressor
Robotics:feature/add-kinematics
..
compare: Robotics:2a3760ebb4cca50c7bb3cf3ca4ad090fcdc9bc84
Branches Tags
Robotics:feature/calulated-col-force
Robotics:main
Robotics:test/grab-to-unstow
Robotics:feature/Make-GC-Compilable
Robotics:feature/R1000-identification
Robotics:test/R1000-test
Robotics:feature/add-regressor
Robotics:feature/add-kinematics

2 Commits
0926a14dfd ... 2a3760ebb4

Author SHA1 Message Date
cosmic_power 2a3760ebb4 Merge pull request 'add check in verify regressor' (#1) from feature/add-checker into main 
Reviewed-on: #1
 2024-09-19 16:15:27 +00:00
cosmic_power 599ffa1af8 add check in verify regressor 2024-09-20 00:13:11 +08:00
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;