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6ac2f57c

Commit 6ac2f57c authored 7 years ago by Justin Carpentier Committed by GitHub 7 years ago

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Merge pull request #402 from jcarpent/topic/jacobian-variation

Add algo to compute [inefficiently] the time variation of the joint jacobian

parents df380d70 a261b5b8

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benchmark/timings.cpp 7 additions, 0 deletions

benchmark/timings.cpp
bindings/python/algorithm/expose-jacobian.cpp 32 additions, 1 deletion

bindings/python/algorithm/expose-jacobian.cpp
bindings/python/multibody/data.hpp 1 addition, 0 deletions

bindings/python/multibody/data.hpp
cmake 1 addition, 1 deletion

cmake
src/algorithm/jacobian.hpp 37 additions, 2 deletions

src/algorithm/jacobian.hpp
src/algorithm/jacobian.hxx 91 additions, 0 deletions

src/algorithm/jacobian.hxx
src/multibody/liegroup/operation-base.hpp 3 additions, 2 deletions

src/multibody/liegroup/operation-base.hpp
src/multibody/liegroup/special-euclidean.hpp 2 additions, 2 deletions

src/multibody/liegroup/special-euclidean.hpp
src/multibody/model.hpp 3 additions, 0 deletions

src/multibody/model.hpp
src/multibody/model.hxx 1 addition, 0 deletions

src/multibody/model.hxx
src/spatial/motion.hpp 3 additions, 3 deletions

src/spatial/motion.hpp
unittest/jacobian.cpp 57 additions, 1 deletion

unittest/jacobian.cpp

with 238 additions and 12 deletions

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