Meaning of endpoint error

[yenchenlin]

Hello, I'm trying to understand the meaning of this function in your iLQR code. I wonder why there is np.cos and np.sin involved.

BTW, thanks for such a great code.

[studywolf]

Hello! This I've actually been meaning to rewrite because it's unnecessarily complex, all it's calculating is the derivative of the error with respect to the joint angles. The cos and sin are there for the transformation into Cartesian coordinates, I'll try to make a commit to fix in the next couple of days, it has been a while coming!