Update method to compute the outer product

flferretti · flferretti · commit 511d63ee554d · 2025-04-15T14:28:54.000+01:00
diff --git a/src/jaxsim/math/quaternion.py b/src/jaxsim/math/quaternion.py
@@ -100,7 +100,7 @@ def derivative(
         )
 
         # Compute quaternion derivative via Einstein summation
-        q_outer = jnp.einsum("...i,...j->...ij", q, ω_quat)
+        q_outer = jnp.outer(q, ω_quat)
 
         Qd = jnp.sum(
             sign_matrix * q_outer[..., i_idx, j_idx],

Original file line number	Diff line number	Diff line change
`@@ -100,7 +100,7 @@ def derivative(`
`100`	`100`	`)`
`101`	`101`
`102`	`102`	`# Compute quaternion derivative via Einstein summation`
`103`		`- q_outer = jnp.einsum("...i,...j->...ij", q, ω_quat)`
	`103`	`+ q_outer = jnp.outer(q, ω_quat)`
`104`	`104`
`105`	`105`	`Qd = jnp.sum(`
`106`	`106`	`sign_matrix * q_outer[..., i_idx, j_idx],`