The code is already well-formed since the macro itself contains a semicolon, however this is stylistically inconsistent with the rest of the codebase. The missing semicolon is also problematic for automated code transformations.
PiperOrigin-RevId: 494734527
Change-Id: I9aef5844c8c3cce6eefea8f8bf13a4ab3dd79878
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
- Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
- Damping and fluid-drag passive forces.
- Actuation forces.
A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost.
PiperOrigin-RevId: 450377010
Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
Saran Tunyasuvunakool