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Add recursive algorithm to compute the inverse of the mass matrix

Open flferretti opened this issue 1 year ago • 0 comments

This PR adds a RBDA to compute the inverse of the floating base mass matrix analytically.

[!Note] Reference pseudocode: https://laas.hal.science/hal-01790934v2/document

Solves #107

📚 Documentation preview 📚: https://jaxsim--231.org.readthedocs.build//231/

flferretti avatar Sep 13 '24 15:09 flferretti