The Parallel transport direction in computing Jacobian #1126
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huweiATgithub
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Thanks for raising this question. Indeed, the documentation is wrong, it should be the other way around. Could you help us creating a PR that fixes this issue? |
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In semi-explicit Euler integration, I am confused about the Jtransport part of
calcDiff
:crocoddyl/include/crocoddyl/core/integrator/euler.hxx
Lines 76 to 115 in 0500e39
Let us take$F_u$ as an example. The code is computing $\frac{dx_{n+1}}{du_n} =\frac{\partial x_{n+1}}{\partial \delta x} \frac{\partial \delta x}{\partial u_n} $ .$\frac{\partial \delta x}{\partial u_n} $ , and then call $\frac{\partial x_{n+1}}{\partial \delta x} $ :
I understand the first part of the code is computing
JintegrateTransport
to do the transportation, i.e. left multiplystate_->JintegrateTransport(x, d->dx, d->Fu, second);
If I understand correctly,$\frac{\partial \delta x}{\partial u_n}$ has column vectors in tangent space at $x_n$ . The desired quantity $\frac{dx_{n+1}}{du_n}$ has column vectors in tangent space at $x_{n+1}$ .$x_n$ to that at $x_{n+1}=x_{n}\oplus\delta x$ .
Therefore, we are transporting vectors from tangent space at
But in the documentation of
JintegrateTransport
, it says:It is the reverse of my argument above.
What is wrong with my arguments?
Thanks!
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