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Make sure that dynamics gradient after quaternion normalization is correct. #4

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pangtao22 opened this issue Jan 13, 2022 · 0 comments
Open

Make sure that dynamics gradient after quaternion normalization is correct. #4

pangtao22 opened this issue Jan 13, 2022 · 0 comments
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The PR #3 was merged without a test on this. The current implementation results in the smallest error when compared with numerical gradients, but the math (chain rule) did not seem to check out...
@pangtao22 pangtao22 self-assigned this Apr 14, 2022
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