Implementation question

[Rayman]

Hi, thank you for this package! I was analysing your code and I have a question:

phi_1 and phi_2 I can relate to equation 3.49. But where can I find the definition of term_1 and term_2? I'm trying to understand where they come from.

Thank you for your answer!

[exMachina316]

Hey @Rayman!! Since we are doing the calculations in the robot frame, we use a modified version of 3.55, here each multiplicative term on the right side of - are term1 and term2 resp.