Reduction of Q for mimic joints
stephane-caron opened this issue · comments
Stéphane Caron commented
We found with @gergondet yesterday an issue in the reduceQC function: cross-terms in alpha_i * alpha_j
are missing in the computation of Q.
Mimic joints can be written m_i = alpha_i * q_i + offset_i
, so that mdd_i = alpha_i * qdd_i
, or in matrix form mdd = A * qdd
. Then, the calculation should look like this (z=mdd
and x=qdd
):
This is a substitution. We should update the function, or convince @aescande to demonstrate the power of tvm here 😉