Fix Coriolis Matrix Algorithm for any floating base choice #1288
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Regarding:
I am thinking of using what explained in Section 3.8 of https://github.com/traversaro/traversaro-phd-thesis |
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I am missing just to fix the case where the floating base is an additional frame of a link and the velocity representation is the mixed one. |
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This PR closes #1287.
Namely, it fixes the computations when:
linkIndex != 0It should be merged after #1286