Add the possibility to use manif objects in the ForwardEuler integrator #379
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GiulioRomualdi
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Giulero
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Jul 23, 2021
traversaro
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Jul 23, 2021
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In the need for extension towards also right trivialization, Maybe you could allow the user to set the trivialization (enum class) as done here and use the corresponding left/right composition accordingly, as done in an implementation of RKMK4 Liegroup integrator, here. warning: associated links are pointed to private repositories, only |
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This PR introduces the possibility to use ForwardEuler integrator with manif objects. Thanks to this I removed the Baumgarte stabilization in FloatingBaseSystemKinematics class