data.jointTorqueRegressor is transposed

[muttistefano]

Hi all,
It seems that when i use the computeJointTorqueRegressor, the result stored in data.jointTorqueRegressor is transposed.
In the code, I receive a [joint number x number of parameters], while in literature, it is the other way around.
Is there a reason it is implemented like this?
Thanks

[jcarpent]

Could you provide some references? Is the documentation clear enough?

At first glance, this is an implementation choice.

[muttistefano]

Hi, in siciliano's Robotics Modelling, Planning, and Control (https://nibmehub.com/opac-service/pdf/read/Robotics%20Modelling-%20Planning%20and%20Control%20by%20Bruno%20Siciliano-.pdf)

At the end of section 7.2.2

Indeed, it might be an implementation choice, not a problem.

[muttistefano]

i guess it was my mistake, the matrix is correctly shaped