Comments (3)
Hi @GiulioRomualdi,
There is no plan to add this at the moment but if you'd like to discuss one we can do so. I guess the first step would be to put together some math doc to clarify the topic and set some solid foundations.
cc @joansola
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The cotangent space seems essential for control applications, as directional derivatives (cotangent covectors) applied to the potential energy effect d'Alembert's Principle. Please see the right-most terms in Equations 16b and 16c of this paper: https://arxiv.org/abs/1609.02898.
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