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Hi, thanks for the great work. I have a question that I would like to ask.
In the input.jl file, within the function input_impulse!, why is it necessary to divide Jτaa by 2 when calculating pbody.state.Jτ2, especially considering that in impulse_transform, Diagonal([sones(3); 0.5 * sones(3)]) * transpose([X Q]) has already divided by 2?
Thanks for your answer.
The text was updated successfully, but these errors were encountered:
Hi, thanks for the great work. I have a question that I would like to ask.
In the input.jl file, within the function input_impulse!, why is it necessary to divide Jτaa by 2 when calculating pbody.state.Jτ2, especially considering that in impulse_transform, Diagonal([sones(3); 0.5 * sones(3)]) * transpose([X Q]) has already divided by 2?
Thanks for your answer.
The text was updated successfully, but these errors were encountered: