2 Commits (4ed047f8a63d80adfbce16115939bb5a35a76ff5)

Author	SHA1	Message	Date
Duy-Nguyen Ta	e4a9c398c8	Factor for Discrete Euler Poincare' equation in SE3 for Simple Helicopter dynamics with correct dertivatives	2013-04-29 17:21:13 +00:00
Duy-Nguyen Ta	cde44b2952	Finally finish implementing the Reconstruction factor for updating the poses of holonomic vehicles using discrete variational integrators (eq. 10 in [Kobilarov09siggraph]). Also, better approximation for the derivative of the inverse expmap wrt the lie algebra in Pose3. Test with numericalderivative.	2013-04-22 08:34:40 +00:00