From 7d62a007cdd8a91c0df6c4bce356c0076201a383 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 7 Aug 2022 22:02:39 +0200
Subject: [PATCH] Fix some comments
---
.../processor_force_torque_inertial_preint_dynamics.cpp | 6 ++----
1 file changed, 2 insertions(+), 4 deletions(-)
diff --git a/src/processor/processor_force_torque_inertial_preint_dynamics.cpp b/src/processor/processor_force_torque_inertial_preint_dynamics.cpp
index 8ae3141..707cb40 100644
--- a/src/processor/processor_force_torque_inertial_preint_dynamics.cpp
+++ b/src/processor/processor_force_torque_inertial_preint_dynamics.cpp
@@ -273,7 +273,8 @@ void ProcessorForceTorqueInertialPreintDynamics::computeCurrentDelta(const Eigen
*
* J_delta_data = J_delta_tangent * J_tangent_data
* J_delta_model = J_delta_model + J_delta_tangent * J_tangent_model <-- remember all Jacobians are PARTIAL
- * derivatives. J_delta_bias = J_delta_tangent * J_tangent_bias
+ * derivatives.
+ * J_delta_bias = J_delta_tangent * J_tangent_bias
*
* Finally we can assemble the Jacobian `J_delta_calib` as the concatenation of bias and model:
*
@@ -354,9 +355,6 @@ void ProcessorForceTorqueInertialPreintDynamics::computeCurrentDelta(const Eigen
// 3. Compose jacobians
Matrix<double, 18, 6> J_delta_bias = J_delta_tangent * J_tangent_bias;
- // !!!!!! Now J_delta_model seems to be calculated in function tangent2delta as J_delta_tangent * J_tangent_model
- // !!!!!!!!!!!
- // TODO: Check the calculation od the J_delta_model in fti::tangent2delta()
J_delta_model += J_delta_tangent * J_tangent_model;
_jacobian_calib << J_delta_bias, J_delta_model; // J_delta_calib = [J_delta_bias ; J_delta_model]
const auto& J_delta_data = J_delta_tangent * J_tangent_data;
--
GitLab