RSDK-13338: TCP Limit Curve - #24
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This PR also contains the existing test from #23 it also contains a potential solution. |
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| kinematic_chain::velocity_gain kinematic_chain::velocity_gain_and_derivative(const xt::xarray<double>& q, |
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getting the jacobian derivative is used in switching point search.
Nick Franczak (nfranczak)
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