From 5dcc4b3c11f3efacc5b4b1306781c6d4a81429a9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 23 Aug 2022 12:14:48 +0200
Subject: [PATCH] Reorganize some lines
---
include/bodydynamics/math/force_torque_inertial_delta_tools.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/bodydynamics/math/force_torque_inertial_delta_tools.h b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
index 42081eb..e5a87d1 100644
--- a/include/bodydynamics/math/force_torque_inertial_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
@@ -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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