frost-dev
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question about computeTwist
hi aynga i am reading the code of FROST now, there is a question about the function computeTwist of RobotJoint. in this function,you set the twist of RobotJoint as: obj.Twist = transpose(adj*transpose(xi));
and the comment about the function is :
%computes the twist from the base frame
i think the twist should be twist from parent frame ,not from base frame.
am i misunderstand something?