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base: Robotics:2a3760ebb4cca50c7bb3cf3ca4ad090fcdc9bc84
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:0926a14dfdb5fb61eadf6319c216b3c53e292eae
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

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verify_regressor.m
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@ -56,8 +56,6 @@ 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;