8000 update refs to jacob0_dot · 2345vor/robotics-toolbox-python@6fb9a67 · GitHub
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petercorkepetercorke
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update refs to jacob0_dot
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‎roboticstoolbox/robot/Dynamics.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1147,7 +1147,7 @@ def coriolis_x(
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if Mx is None:
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Mx = self.inertia_x(q[0, :], Ji=Ji)
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if Jd is None:
1150-
Jd = self.jacob_dot(q[0, :], qd[0, :], J0=Ja)
1150+
Jd = self.jacob0_dot(q[0, :], qd[0, :], J0=Ja)
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return Ji.T @ (C - Mx @ Jd) @ Ji
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else:
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# trajectory case
@@ -1164,7 +1164,7 @@ def coriolis_x(
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C = self.coriolis(qk, qdk)
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Mx = self.inertia_x(qk, Ji=Ji)
1167-
Jd = self.jacob_dot(qk, qdk, J0=J)
1167+
Jd = self.jacob0_dot(qk, qdk, J0=J)
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Ct[k, :, :] = Ji.T @ (C - Mx @ Jd) @ Ji
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