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A possible typo in a doc formula of chainjnttojacdotsolver #367
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Hi, I was just wondering about some documentation in the
chainjnttojacdotsolver
orocos_kinematics_dynamics/orocos_kdl/src/chainjnttojacdotsolver.hpp
Lines 153 to 165 in 88d5c8f
I see that the formula written is $ \frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j}$, but I am not sure that the final $ \dot{q}^{j}$ should be there.
Indeed in :
orocos_kinematics_dynamics/orocos_kdl/src/chainjnttojacdotsolver.cpp
Lines 113 to 115 in 88d5c8f
The result of
getPartialDerivative
is multiplied by qdot(j)I am using these formulas/codes, so I would just like to be sure about what it is happening inside :D
Thanks!
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