Jacobian of the SE3 residual is expressed in the right frame (!15) · Merge requests · loco-3d / crocoddyl

The source project of this merge request has been removed.

Carlos Mastalli requested to merge (removed):solver into devel Nov 16, 2018

This fixed an important bug in the computation of the SE3 cost. Additionally I added data for the SE3 error which is updated in updateSE3Error. This bug was reported in #28 (closed).

I noticed that the gradient reduction is much better (a beautiful exponential for the HyQ problem), even though it's not request to rotate.

Edited Nov 16, 2018 by Carlos Mastalli

Jacobian of the SE3 residual is expressed in the right frame

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