From 599ffa1af805fd80b9ff7890724235ae18ba5095 Mon Sep 17 00:00:00 2001
From: cosmic_power <cosmic_power@163.com>
Date: Fri, 20 Sep 2024 00:13:11 +0800
Subject: [PATCH] add check in verify regressor

---
 verify_regressor.m | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/verify_regressor.m b/verify_regressor.m
index 9c3a96c..3f48c67 100644
--- a/verify_regressor.m
+++ b/verify_regressor.m
@@ -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;
-- 
2.40.1