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[DQ_SerialWholeBody.cpp] This PR fixes bug 61, which is related to the pose jacobian method #62

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[DQ_SerialWholeBody.cpp] This PR fixes bug 61, which is related to the pose jacobian method #62

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10 changes: 7 additions & 3 deletions src/robot_modeling/DQ_SerialWholeBody.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/**
(C) Copyright 2020-2022 DQ Robotics Developers
(C) Copyright 2020-2023 DQ Robotics Developers

This file is part of DQ Robotics.

Expand All @@ -17,7 +17,11 @@ This file is part of DQ Robotics.
along with DQ Robotics. If not, see <http://www.gnu.org/licenses/>.

Contributors:
- Murilo M. Marinho ([email protected])
1. Murilo M. Marinho ([email protected])

2. Juan Jose Quiroz Omana ([email protected])
- Fixed bug 61 (https://github.com/dqrobotics/cpp/issues/61) in pose_jacobian method.

*/

#include<dqrobotics/robot_modeling/DQ_SerialWholeBody.h>
Expand Down Expand Up @@ -242,7 +246,7 @@ MatrixXd DQ_SerialWholeBody::pose_jacobian(const VectorXd &q, const int &to_ith_
int to_jth_link;
std::tie(to_ith_chain,to_jth_link) = get_chain_and_link_from_index(to_ith_link);

return raw_pose_jacobian_by_chain(q,to_ith_chain,to_jth_link);
return hamiplus8(get_reference_frame())*raw_pose_jacobian_by_chain(q,to_ith_chain,to_jth_link);
}

MatrixXd DQ_SerialWholeBody::pose_jacobian(const VectorXd &q) const
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