jrl-umi3218 / Tasks

The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.

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adding option to represent weight, stiffness and damping matrices in a local frame

Saeed-Mansouri opened this issue · comments

As far as I know, weight, stiffness and damping matrices are defined in the global frame. It would be good if you had the option to represent them in a local frame.