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Commit 5dcc4b3c authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Reorganize some lines

parent 0e6ce777
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2 merge requests!31devel->main,!30Complete UAV identification setup
......@@ -1219,10 +1219,10 @@ void forces2acc(const MatrixBase<D1>& _force,
const Matrix3t& J_angacc_angvel = I_inv * (skew(I * _angvel) - angvel_x * I); // (38)
// Output Jacobians
_J_acc_force = Matrix<S, 3, 3>::Identity() / _mass; // (59)
_J_acc_torque = J_acc_angacc * J_angacc_torque; // (?)
_J_acc_angvel =
J_acc_angacc * J_angacc_angvel - angvel_x * J_angvelcom_angvel + skew(_angvel.cross(_com)); // (37)
_J_acc_force = Matrix<S, 3, 3>::Identity() / _mass; // (59)
_J_acc_torque = J_acc_angacc * J_angacc_torque; // (?)
_J_acc_com = -angacc_x - angvel_x * angvel_x; // (51)
_J_acc_inertia = J_acc_angacc * J_angacc_inertia; // (55)
_J_acc_mass = -_force / (_mass * _mass); // (50)
......
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