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    • Rohan Budhiraja's avatar
      get the inverse of MJtJ matrix using the matrix decompositions performed in... · f1d55dfd
      Rohan Budhiraja authored
      get the inverse of MJtJ matrix using the matrix decompositions performed in forwardDynamics or impulsedynamics (#665)
      
      * [dynamics] use matrix decompositions done in forwarddynamics to return the inverse of MJtJ matrix. getMJtJInverse()
      
      * [getMJtJInverse][unittest]
      
      * [getMJtJInverse] python binding, unittest and impulse dynamics and name change to getKKTContactDynamicMatrixInverse
      f1d55dfd
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