{"comment":{"url":"https://api.github.com/repos/robotology/mex-wholebodymodel/comments/13990591","html_url":"https://github.com/robotology/mex-wholebodymodel/commit/e3258bf24cee577fbdf87b52d9702a75ee8812cf#commitcomment-13990591","id":13990591,"user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"position":137,"line":137,"path":"matlab-src/mex-wholebodymodel_balancing/forwardDynamics.m","commit_id":"e3258bf24cee577fbdf87b52d9702a75ee8812cf","created_at":"2015-10-26T17:28:50Z","updated_at":"2015-10-26T17:28:50Z","body":"I understand @gabrielenava . Actually I was locking at it because I was trying to solve https://github.com/robotology/mex-wholebodymodel/issues/42 , at least for the \"constrained forward dynamics\" case, to avoid bugs due to the code duplication. For reducing cross-dependency in the code it would be ideal to compute this position error directly from the output of the forward dynamics, as you do for position. "}}