Simplify CRBA by merging two jax.lax.cond branches
#236
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flferretti
approved these changes
Sep 19, 2024
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This change doesn't significantly affect speed, but it simplifies the logic that implements a nested while loop with a
jax.lax.scan-- necessary to support reverse-mode AD.I have the impression that we can remove entirely this while loop by slicing the mass matrix with$\nu(i)$ , that defines the bodies supported by joint $i$ , as @flferretti is trying in #231, but I didn't investigate further in this direction.
📚 Documentation preview 📚: https://jaxsim--236.org.readthedocs.build//236/