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add check in verify regressor #1

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cosmic_power merged 1 commits from feature/add-checker into main 2024-09-19 16:15:27 +00:00
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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);
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;