diff --git a/Wrench_8h.html b/Wrench_8h.html
index bb548f0c80..aad20c3f60 100644
--- a/Wrench_8h.html
+++ b/Wrench_8h.html
@@ -245,12 +245,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -278,8 +278,6 @@
-
-
@@ -289,6 +287,8 @@
+
+
@@ -458,12 +458,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -489,9 +489,6 @@
-
-
-
@@ -499,6 +496,9 @@
+
+
+
diff --git a/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html b/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
index 02005793d1..c9efebe8ef 100644
--- a/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
+++ b/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
@@ -95,8 +95,8 @@ Contents
$f=k(x_0 - x)- b x$
-
+
diff --git a/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html b/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
index 147685f513..75ecae4893 100644
--- a/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
+++ b/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
@@ -108,14 +108,14 @@ Contents
\[ {}^{I} x_{\text{CoP}}^{\text{global}} = \frac{1}{\sum_{i=1}^{n} f_{z,i}} \sum_{i=1}^{n} ({}^I f_{z,i} \; \; x_{\text{CoP},i}) \]
+
+
-
-
@@ -467,12 +467,12 @@ Contents
-
-
-
+
+
+
diff --git a/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1ButterworthLowPassFilter.html b/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1ButterworthLowPassFilter.html
index 183087374d..eb60743d23 100644
--- a/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1ButterworthLowPassFilter.html
+++ b/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1ButterworthLowPassFilter.html
@@ -92,11 +92,11 @@ Contents
\[ H(s) = \frac{1}{\sqrt{1 + \left(\frac{s}{\omega_c}\right)^{2N}}} \]
-
+
@@ -178,9 +178,9 @@ Contents
\[ p_k = \omega_c e^{j \frac{\pi}{2} \left(1 + \frac{2k - 1}{2N}\right)} \]
-
+
@@ -263,11 +263,11 @@ Contents
\[ K = \prod_{k=0}^{N-1} s_k = \omega_c^N \]
-
+
@@ -433,10 +433,10 @@ Contents
-
+
@@ -475,12 +475,12 @@ Contents
+
+
-
-
diff --git a/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html b/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
index 04230d5791..dcc84f400f 100644
--- a/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
+++ b/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
@@ -87,8 +87,8 @@ Contents
-
+
@@ -268,10 +268,10 @@ Contents
$\bar{g}^\top = \begin{bmatrix} g^\top & 0_{1\times3} \end{bmatrix}$
-
-
+
+
@@ -346,10 +346,10 @@ Contents
${}_{\bar{G}} h^{p} = m v_{\text{CoM}}$
+
-
diff --git a/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html b/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
index 1f47d90594..ee06fe6337 100644
--- a/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
+++ b/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
@@ -84,9 +84,9 @@ Contents
\[ \ddot{s} = H^{-1} [\tau_{m} - \tau_{F} + (\sum J^T_{FT} f_{FT}) + + (\sum J^T_{ext} f_{ext}) - F^T {}^B \dot v - h ] \]
-
+
diff --git a/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html b/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
index 3a244b4771..2fff263ef0 100644
--- a/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
+++ b/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
@@ -93,10 +93,10 @@ Contents
\[ A_{cmm_\omega} \nu = {}^{G[A]} h_\omega ^* \]
-
+
@@ -145,10 +145,10 @@ Contents
${}^{G[A]} h_\omega ^*$
-
+
diff --git a/classBipedalLocomotion_1_1IK_1_1DistanceTask.html b/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
index fae9c47fed..9db4f2169f 100644
--- a/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
+++ b/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
@@ -93,8 +93,8 @@ Contents
\[ \frac{1}{d} p ^ \top J_p \nu = k (d ^ * - d) \]
-
+
diff --git a/classBipedalLocomotion_1_1IK_1_1GravityTask.html b/classBipedalLocomotion_1_1IK_1_1GravityTask.html
index 575ce9fae8..5cb3433365 100644
--- a/classBipedalLocomotion_1_1IK_1_1GravityTask.html
+++ b/classBipedalLocomotion_1_1IK_1_1GravityTask.html
@@ -94,6 +94,10 @@ Contents
+
+
+
+
@@ -104,10 +108,6 @@ Contents
-
-
-
-
@@ -191,8 +191,8 @@ Contents
${} ^ W g ^ *$
-
+
@@ -254,13 +254,13 @@ Contents
$ a^\top b = ||a|| ~||b|| \cos(\theta) $
-
+
@@ -295,13 +295,13 @@ Contents
-
-
+
+
@@ -333,10 +333,10 @@ Contents
-
-
+
+
@@ -436,10 +436,10 @@ Contents
-
-
+
+
@@ -576,9 +576,9 @@ Contents
\[ \dot{V} = -{}^b\hat{V}^\top{}^w{R}_b^\top S(e_3){}^w\omega. \]
-
+
@@ -622,8 +622,6 @@ Contents
-
-
@@ -637,6 +635,8 @@ Contents
+
+
diff --git a/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html b/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
index ec076d03fc..8c404ee76e 100644
--- a/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
+++ b/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
@@ -85,10 +85,10 @@ Contents
-
-
+
+
diff --git a/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html b/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
index 02e05a99db..c5c440349b 100644
--- a/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
+++ b/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \dot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/classBipedalLocomotion_1_1IK_1_1R3Task.html b/classBipedalLocomotion_1_1IK_1_1R3Task.html
index d9157a9616..f386361a6f 100644
--- a/classBipedalLocomotion_1_1IK_1_1R3Task.html
+++ b/classBipedalLocomotion_1_1IK_1_1R3Task.html
@@ -94,8 +94,8 @@ Contents
\[ J_l \nu = v ^ * \]
-
+
diff --git a/classBipedalLocomotion_1_1IK_1_1SO3Task.html b/classBipedalLocomotion_1_1IK_1_1SO3Task.html
index 8347f04cb6..4e2547f27a 100644
--- a/classBipedalLocomotion_1_1IK_1_1SO3Task.html
+++ b/classBipedalLocomotion_1_1IK_1_1SO3Task.html
@@ -95,8 +95,8 @@ Contents
\[ J_\omega \nu = \omega ^ * \]
-
+
diff --git a/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html b/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
index aefc8a8cfe..babc03bc3c 100644
--- a/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
+++ b/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
@@ -97,16 +97,16 @@ Contents
-
-
-
-
+
+
+
+
diff --git a/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html b/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
index 0f08d6a20f..9b264ad756 100644
--- a/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
+++ b/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
@@ -85,14 +85,14 @@ Contents
\[ \epsilon = \text{log} \left(R_0^\top R_f \right) \]
-
+
+
+
-
-
@@ -116,14 +116,14 @@ Contents
\[ \epsilon = \text{log} \left(R_f^\top R_0 \right) \]
-
+
+
+
-
-
@@ -258,8 +258,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
@@ -327,8 +327,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
diff --git a/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html b/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
index 88fbb268c6..13cc5d50c1 100644
--- a/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
+++ b/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
@@ -85,21 +85,21 @@ Contents
-
-
-
+
+
+
-
-
-
+
+
+
diff --git a/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html b/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
index 42e8be8efa..25fd505e18 100644
--- a/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
+++ b/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{b}(q) \dot{\nu} + h_{b}(q,\nu) = \sum J_k^\top f_k \]
-
+
diff --git a/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html b/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
index 0692b6adca..70a07b91ab 100644
--- a/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
+++ b/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{s}(q) \dot{\nu} + h_{s}(q,\nu) = \sum J_k^\top f_k + \tau \]
-
+
diff --git a/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html b/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
index 0b52179d24..cae74d01fb 100644
--- a/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
+++ b/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \ddot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/classBipedalLocomotion_1_1TSID_1_1R3Task.html b/classBipedalLocomotion_1_1TSID_1_1R3Task.html
index bbd3263e2b..089e81322e 100644
--- a/classBipedalLocomotion_1_1TSID_1_1R3Task.html
+++ b/classBipedalLocomotion_1_1TSID_1_1R3Task.html
@@ -96,10 +96,10 @@ Contents
\[ J_l \dot{\nu} + \dot{J}_l \nu = \dot{v} ^ * \]
-
+
diff --git a/so3-minjerk.html b/so3-minjerk.html
index 2a3e95d1c6..219d083ba8 100644
--- a/so3-minjerk.html
+++ b/so3-minjerk.html
@@ -181,10 +181,10 @@
$R(t_0) = R_0$
+
-
@@ -225,10 +225,10 @@
$\omega(t_0) = \omega_0$
+
-
@@ -541,8 +541,6 @@
-
-
@@ -561,6 +559,8 @@
+
+
@@ -667,8 +667,6 @@
-
-
@@ -681,6 +679,8 @@
+
+
@@ -857,10 +857,10 @@
$\log\left( R_0^\top R_f \right)$
-
+
@@ -884,10 +884,10 @@
$\log\left(R_0^\top R_f \right)$
-
+
@@ -911,10 +911,10 @@
$\omega^\wedge(0)$
-
+
@@ -929,10 +929,10 @@
$\omega^\wedge(1)$
-
+
diff --git a/v0.15.0/Wrench_8h.html b/v0.15.0/Wrench_8h.html
index 9601a92c24..d648e81ff5 100644
--- a/v0.15.0/Wrench_8h.html
+++ b/v0.15.0/Wrench_8h.html
@@ -245,12 +245,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -278,8 +278,6 @@
-
-
@@ -289,6 +287,8 @@
+
+
@@ -458,12 +458,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -489,9 +489,6 @@
-
-
-
@@ -499,6 +496,9 @@
+
+
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html b/v0.15.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
index 89352f6aab..d39aa4ff3b 100644
--- a/v0.15.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
+++ b/v0.15.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
@@ -95,8 +95,8 @@ Contents
$f=k(x_0 - x)- b x$
-
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html b/v0.15.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
index a2bba78bf7..70b3757681 100644
--- a/v0.15.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
+++ b/v0.15.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
@@ -87,8 +87,8 @@ Contents
-
+
@@ -268,10 +268,10 @@ Contents
$\bar{g}^\top = \begin{bmatrix} g^\top & 0_{1\times3} \end{bmatrix}$
-
-
+
+
@@ -346,10 +346,10 @@ Contents
${}_{\bar{G}} h^{p} = m v_{\text{CoM}}$
+
-
diff --git a/v0.15.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html b/v0.15.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
index f6e2d6a83f..e14767d7b4 100644
--- a/v0.15.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
+++ b/v0.15.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
@@ -84,9 +84,9 @@ Contents
\[ \ddot{s} = H^{-1} [\tau_{m} - \tau_{F} + (\sum J^T_{FT} f_{FT}) + + (\sum J^T_{ext} f_{ext}) - F^T {}^B \dot v - h ] \]
-
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html b/v0.15.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
index b52a838c37..2e232b571a 100644
--- a/v0.15.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
+++ b/v0.15.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
@@ -93,10 +93,10 @@ Contents
\[ A_{cmm_\omega} \nu = {}^{G[A]} h_\omega ^* \]
-
+
@@ -145,10 +145,10 @@ Contents
${}^{G[A]} h_\omega ^*$
-
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html b/v0.15.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
index 83e16a70f0..40999fd836 100644
--- a/v0.15.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
+++ b/v0.15.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
@@ -85,10 +85,10 @@ Contents
-
-
+
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html b/v0.15.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
index 84bbd20892..d0d126d773 100644
--- a/v0.15.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
+++ b/v0.15.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \dot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1IK_1_1R3Task.html b/v0.15.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
index 5dd13f142a..6ef2a82baf 100644
--- a/v0.15.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
+++ b/v0.15.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
@@ -94,8 +94,8 @@ Contents
\[ J_l \nu = v ^ * \]
-
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html b/v0.15.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
index fba0b4a130..9fcd4b8116 100644
--- a/v0.15.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
+++ b/v0.15.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
@@ -95,8 +95,8 @@ Contents
\[ J_\omega \nu = \omega ^ * \]
-
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html b/v0.15.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
index 4ff6376cf2..f07ad1b86d 100644
--- a/v0.15.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
+++ b/v0.15.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
@@ -97,16 +97,16 @@ Contents
-
-
-
-
+
+
+
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html b/v0.15.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
index a4311d0157..90b9a278a8 100644
--- a/v0.15.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
+++ b/v0.15.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
@@ -196,8 +196,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
@@ -265,8 +265,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html b/v0.15.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
index f72541849a..710e6b012a 100644
--- a/v0.15.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
+++ b/v0.15.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
@@ -85,21 +85,21 @@ Contents
-
-
-
+
+
+
-
-
-
+
+
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html b/v0.15.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
index 069dab9ee0..2d2b22cbbb 100644
--- a/v0.15.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
+++ b/v0.15.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{b}(q) \dot{\nu} + h_{b}(q,\nu) = \sum J_k^\top f_k \]
-
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html b/v0.15.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
index c5ffdf2b16..0e66e5d2e8 100644
--- a/v0.15.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
+++ b/v0.15.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{s}(q) \dot{\nu} + h_{s}(q,\nu) = \sum J_k^\top f_k + \tau \]
-
+
diff --git a/v0.15.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html b/v0.15.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
index 016fd2c976..3df9dd765d 100644
--- a/v0.15.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
+++ b/v0.15.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \ddot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/v0.15.0/so3-minjerk.html b/v0.15.0/so3-minjerk.html
index 16fe8d0b40..8a7efcd200 100644
--- a/v0.15.0/so3-minjerk.html
+++ b/v0.15.0/so3-minjerk.html
@@ -181,10 +181,10 @@
$R(t_0) = R_0$
+
-
@@ -225,10 +225,10 @@
$\omega(t_0) = \omega_0$
+
-
@@ -541,8 +541,6 @@
-
-
@@ -561,6 +559,8 @@
+
+
@@ -667,8 +667,6 @@
-
-
@@ -681,6 +679,8 @@
+
+
@@ -857,10 +857,10 @@
$\log\left( R_0^\top R_f \right)$
-
+
@@ -884,10 +884,10 @@
$\log\left(R_0^\top R_f \right)$
-
+
@@ -911,10 +911,10 @@
$\omega^\wedge(0)$
-
+
@@ -929,10 +929,10 @@
$\omega^\wedge(1)$
-
+
diff --git a/v0.16.1/Wrench_8h.html b/v0.16.1/Wrench_8h.html
index e70ed838e2..227746b704 100644
--- a/v0.16.1/Wrench_8h.html
+++ b/v0.16.1/Wrench_8h.html
@@ -245,12 +245,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -278,8 +278,6 @@
-
-
@@ -289,6 +287,8 @@
+
+
@@ -458,12 +458,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -489,9 +489,6 @@
-
-
-
@@ -499,6 +496,9 @@
+
+
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html b/v0.16.1/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
index d9f3ab281d..8394deead9 100644
--- a/v0.16.1/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
+++ b/v0.16.1/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
@@ -95,8 +95,8 @@ Contents
$f=k(x_0 - x)- b x$
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html b/v0.16.1/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
index c8dde4c00d..35c0483767 100644
--- a/v0.16.1/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
+++ b/v0.16.1/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
@@ -108,14 +108,14 @@ Contents
\[ {}^{I} x_{\text{CoP}}^{\text{global}} = \frac{1}{\sum_{i=1}^{n} f_{z,i}} \sum_{i=1}^{n} ({}^I f_{z,i} \; \; x_{\text{CoP},i}) \]
+
+
-
-
@@ -467,12 +467,12 @@ Contents
-
-
-
+
+
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html b/v0.16.1/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
index 9e217e9acc..5cd9bc5a88 100644
--- a/v0.16.1/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
+++ b/v0.16.1/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
@@ -87,8 +87,8 @@ Contents
-
+
@@ -268,10 +268,10 @@ Contents
$\bar{g}^\top = \begin{bmatrix} g^\top & 0_{1\times3} \end{bmatrix}$
-
-
+
+
@@ -346,10 +346,10 @@ Contents
${}_{\bar{G}} h^{p} = m v_{\text{CoM}}$
+
-
diff --git a/v0.16.1/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html b/v0.16.1/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
index d5cc3adc9f..856740994f 100644
--- a/v0.16.1/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
+++ b/v0.16.1/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
@@ -84,9 +84,9 @@ Contents
\[ \ddot{s} = H^{-1} [\tau_{m} - \tau_{F} + (\sum J^T_{FT} f_{FT}) + + (\sum J^T_{ext} f_{ext}) - F^T {}^B \dot v - h ] \]
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html b/v0.16.1/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
index ad42b64b47..24142fb6a1 100644
--- a/v0.16.1/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
@@ -93,10 +93,10 @@ Contents
\[ A_{cmm_\omega} \nu = {}^{G[A]} h_\omega ^* \]
-
+
@@ -145,10 +145,10 @@ Contents
${}^{G[A]} h_\omega ^*$
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1IK_1_1DistanceTask.html b/v0.16.1/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
index 7176d6d30c..a14685fefa 100644
--- a/v0.16.1/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
@@ -93,8 +93,8 @@ Contents
\[ \frac{1}{d} p ^ \top J_p \nu = k (d ^ * - d) \]
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1IK_1_1GravityTask.html b/v0.16.1/classBipedalLocomotion_1_1IK_1_1GravityTask.html
index 1cde1520ab..de191b87a1 100644
--- a/v0.16.1/classBipedalLocomotion_1_1IK_1_1GravityTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1IK_1_1GravityTask.html
@@ -94,6 +94,10 @@ Contents
+
+
+
+
@@ -104,10 +108,6 @@ Contents
-
-
-
-
@@ -191,8 +191,8 @@ Contents
${} ^ W g ^ *$
-
+
@@ -254,13 +254,13 @@ Contents
$ a^\top b = ||a|| ~||b|| \cos(\theta) $
-
+
@@ -295,13 +295,13 @@ Contents
-
-
+
+
@@ -333,10 +333,10 @@ Contents
-
-
+
+
@@ -436,10 +436,10 @@ Contents
-
-
+
+
@@ -576,9 +576,9 @@ Contents
\[ \dot{V} = -{}^b\hat{V}^\top{}^w{R}_b^\top S(e_3){}^w\omega. \]
-
+
@@ -622,8 +622,6 @@ Contents
-
-
@@ -637,6 +635,8 @@ Contents
+
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html b/v0.16.1/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
index 55df0d401a..6418e31d38 100644
--- a/v0.16.1/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
@@ -85,10 +85,10 @@ Contents
-
-
+
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html b/v0.16.1/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
index 2db9c425a2..a096a13f75 100644
--- a/v0.16.1/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \dot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1IK_1_1R3Task.html b/v0.16.1/classBipedalLocomotion_1_1IK_1_1R3Task.html
index 5be62e0792..bfda119c77 100644
--- a/v0.16.1/classBipedalLocomotion_1_1IK_1_1R3Task.html
+++ b/v0.16.1/classBipedalLocomotion_1_1IK_1_1R3Task.html
@@ -94,8 +94,8 @@ Contents
\[ J_l \nu = v ^ * \]
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1IK_1_1SO3Task.html b/v0.16.1/classBipedalLocomotion_1_1IK_1_1SO3Task.html
index 01cc6e9d3e..745b03ad47 100644
--- a/v0.16.1/classBipedalLocomotion_1_1IK_1_1SO3Task.html
+++ b/v0.16.1/classBipedalLocomotion_1_1IK_1_1SO3Task.html
@@ -95,8 +95,8 @@ Contents
\[ J_\omega \nu = \omega ^ * \]
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html b/v0.16.1/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
index 2ddffd5744..a65a9a9bc0 100644
--- a/v0.16.1/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
+++ b/v0.16.1/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
@@ -97,16 +97,16 @@ Contents
-
-
-
-
+
+
+
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html b/v0.16.1/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
index 013f09dfd1..f4156f941e 100644
--- a/v0.16.1/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
+++ b/v0.16.1/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
@@ -85,14 +85,14 @@ Contents
\[ \epsilon = \text{log} \left(R_0^\top R_f \right) \]
-
+
+
+
-
-
@@ -116,14 +116,14 @@ Contents
\[ \epsilon = \text{log} \left(R_f^\top R_0 \right) \]
-
+
+
+
-
-
@@ -258,8 +258,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
@@ -327,8 +327,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html b/v0.16.1/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
index 5320733ef8..c4a681aa77 100644
--- a/v0.16.1/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
@@ -85,21 +85,21 @@ Contents
-
-
-
+
+
+
-
-
-
+
+
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html b/v0.16.1/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
index dabd85ae72..fe3209935f 100644
--- a/v0.16.1/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{b}(q) \dot{\nu} + h_{b}(q,\nu) = \sum J_k^\top f_k \]
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html b/v0.16.1/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
index 0787d6be37..da40c6b054 100644
--- a/v0.16.1/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{s}(q) \dot{\nu} + h_{s}(q,\nu) = \sum J_k^\top f_k + \tau \]
-
+
diff --git a/v0.16.1/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html b/v0.16.1/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
index c057d6471f..955b1c579b 100644
--- a/v0.16.1/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
+++ b/v0.16.1/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \ddot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/v0.16.1/so3-minjerk.html b/v0.16.1/so3-minjerk.html
index dd94981f7d..ce58ac1f36 100644
--- a/v0.16.1/so3-minjerk.html
+++ b/v0.16.1/so3-minjerk.html
@@ -181,10 +181,10 @@
$R(t_0) = R_0$
+
-
@@ -225,10 +225,10 @@
$\omega(t_0) = \omega_0$
+
-
@@ -541,8 +541,6 @@
-
-
@@ -561,6 +559,8 @@
+
+
@@ -667,8 +667,6 @@
-
-
@@ -681,6 +679,8 @@
+
+
@@ -857,10 +857,10 @@
$\log\left( R_0^\top R_f \right)$
-
+
@@ -884,10 +884,10 @@
$\log\left(R_0^\top R_f \right)$
-
+
@@ -911,10 +911,10 @@
$\omega^\wedge(0)$
-
+
@@ -929,10 +929,10 @@
$\omega^\wedge(1)$
-
+
diff --git a/v0.17.0/Wrench_8h.html b/v0.17.0/Wrench_8h.html
index 124dacc999..25fa0f45a7 100644
--- a/v0.17.0/Wrench_8h.html
+++ b/v0.17.0/Wrench_8h.html
@@ -245,12 +245,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -278,8 +278,6 @@
-
-
@@ -289,6 +287,8 @@
+
+
@@ -458,12 +458,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -489,9 +489,6 @@
-
-
-
@@ -499,6 +496,9 @@
+
+
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html b/v0.17.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
index 589362878e..75d9ccfbbf 100644
--- a/v0.17.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
+++ b/v0.17.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
@@ -95,8 +95,8 @@ Contents
$f=k(x_0 - x)- b x$
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html b/v0.17.0/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
index a4b0329a56..878e1d4808 100644
--- a/v0.17.0/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
+++ b/v0.17.0/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
@@ -108,14 +108,14 @@ Contents
\[ {}^{I} x_{\text{CoP}}^{\text{global}} = \frac{1}{\sum_{i=1}^{n} f_{z,i}} \sum_{i=1}^{n} ({}^I f_{z,i} \; \; x_{\text{CoP},i}) \]
+
+
-
-
@@ -467,12 +467,12 @@ Contents
-
-
-
+
+
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html b/v0.17.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
index 8f1ef16c4f..36f71d16ce 100644
--- a/v0.17.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
+++ b/v0.17.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
@@ -87,8 +87,8 @@ Contents
-
+
@@ -268,10 +268,10 @@ Contents
$\bar{g}^\top = \begin{bmatrix} g^\top & 0_{1\times3} \end{bmatrix}$
-
-
+
+
@@ -346,10 +346,10 @@ Contents
${}_{\bar{G}} h^{p} = m v_{\text{CoM}}$
+
-
diff --git a/v0.17.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html b/v0.17.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
index 9b4f2dbc6a..8f9cf70ff7 100644
--- a/v0.17.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
+++ b/v0.17.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
@@ -84,9 +84,9 @@ Contents
\[ \ddot{s} = H^{-1} [\tau_{m} - \tau_{F} + (\sum J^T_{FT} f_{FT}) + + (\sum J^T_{ext} f_{ext}) - F^T {}^B \dot v - h ] \]
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html b/v0.17.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
index 78ba1b2ba5..a1758f4d5c 100644
--- a/v0.17.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
@@ -93,10 +93,10 @@ Contents
\[ A_{cmm_\omega} \nu = {}^{G[A]} h_\omega ^* \]
-
+
@@ -145,10 +145,10 @@ Contents
${}^{G[A]} h_\omega ^*$
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1IK_1_1DistanceTask.html b/v0.17.0/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
index bf639fe36c..df53abf365 100644
--- a/v0.17.0/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
@@ -93,8 +93,8 @@ Contents
\[ \frac{1}{d} p ^ \top J_p \nu = k (d ^ * - d) \]
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1IK_1_1GravityTask.html b/v0.17.0/classBipedalLocomotion_1_1IK_1_1GravityTask.html
index ec0afb3154..4bd8ae6aef 100644
--- a/v0.17.0/classBipedalLocomotion_1_1IK_1_1GravityTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1IK_1_1GravityTask.html
@@ -94,6 +94,10 @@ Contents
+
+
+
+
@@ -104,10 +108,6 @@ Contents
-
-
-
-
@@ -191,8 +191,8 @@ Contents
${} ^ W g ^ *$
-
+
@@ -254,13 +254,13 @@ Contents
$ a^\top b = ||a|| ~||b|| \cos(\theta) $
-
+
@@ -295,13 +295,13 @@ Contents
-
-
+
+
@@ -333,10 +333,10 @@ Contents
-
-
+
+
@@ -436,10 +436,10 @@ Contents
-
-
+
+
@@ -576,9 +576,9 @@ Contents
\[ \dot{V} = -{}^b\hat{V}^\top{}^w{R}_b^\top S(e_3){}^w\omega. \]
-
+
@@ -622,8 +622,6 @@ Contents
-
-
@@ -637,6 +635,8 @@ Contents
+
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html b/v0.17.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
index 2232abcbd1..fd0500d22d 100644
--- a/v0.17.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
@@ -85,10 +85,10 @@ Contents
-
-
+
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html b/v0.17.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
index c6317f9038..3b712204ee 100644
--- a/v0.17.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \dot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1IK_1_1R3Task.html b/v0.17.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
index 1524713ae0..763feac195 100644
--- a/v0.17.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
+++ b/v0.17.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
@@ -94,8 +94,8 @@ Contents
\[ J_l \nu = v ^ * \]
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html b/v0.17.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
index 9985b371d2..01b7c5010c 100644
--- a/v0.17.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
+++ b/v0.17.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
@@ -95,8 +95,8 @@ Contents
\[ J_\omega \nu = \omega ^ * \]
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html b/v0.17.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
index b042b87c97..8e10261ad4 100644
--- a/v0.17.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
+++ b/v0.17.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
@@ -97,16 +97,16 @@ Contents
-
-
-
-
+
+
+
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html b/v0.17.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
index 3fcc468db1..404b5ac84b 100644
--- a/v0.17.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
+++ b/v0.17.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
@@ -85,14 +85,14 @@ Contents
\[ \epsilon = \text{log} \left(R_0^\top R_f \right) \]
-
+
+
+
-
-
@@ -116,14 +116,14 @@ Contents
\[ \epsilon = \text{log} \left(R_f^\top R_0 \right) \]
-
+
+
+
-
-
@@ -258,8 +258,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
@@ -327,8 +327,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html b/v0.17.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
index c29ab6084c..3ea9b6588e 100644
--- a/v0.17.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
@@ -85,21 +85,21 @@ Contents
-
-
-
+
+
+
-
-
-
+
+
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html b/v0.17.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
index 9ebde19f9c..c7211a6c07 100644
--- a/v0.17.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{b}(q) \dot{\nu} + h_{b}(q,\nu) = \sum J_k^\top f_k \]
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html b/v0.17.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
index 143770c805..4f5b78a7a1 100644
--- a/v0.17.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{s}(q) \dot{\nu} + h_{s}(q,\nu) = \sum J_k^\top f_k + \tau \]
-
+
diff --git a/v0.17.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html b/v0.17.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
index e562c8e908..e786597d61 100644
--- a/v0.17.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
+++ b/v0.17.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \ddot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/v0.17.0/so3-minjerk.html b/v0.17.0/so3-minjerk.html
index e288988966..c585a915ff 100644
--- a/v0.17.0/so3-minjerk.html
+++ b/v0.17.0/so3-minjerk.html
@@ -181,10 +181,10 @@
$R(t_0) = R_0$
+
-
@@ -225,10 +225,10 @@
$\omega(t_0) = \omega_0$
+
-
@@ -541,8 +541,6 @@
-
-
@@ -561,6 +559,8 @@
+
+
@@ -667,8 +667,6 @@
-
-
@@ -681,6 +679,8 @@
+
+
@@ -857,10 +857,10 @@
$\log\left( R_0^\top R_f \right)$
-
+
@@ -884,10 +884,10 @@
$\log\left(R_0^\top R_f \right)$
-
+
@@ -911,10 +911,10 @@
$\omega^\wedge(0)$
-
+
@@ -929,10 +929,10 @@
$\omega^\wedge(1)$
-
+
diff --git a/v0.18.0/Wrench_8h.html b/v0.18.0/Wrench_8h.html
index 1777283f9c..311c05d343 100644
--- a/v0.18.0/Wrench_8h.html
+++ b/v0.18.0/Wrench_8h.html
@@ -245,12 +245,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -278,8 +278,6 @@
-
-
@@ -289,6 +287,8 @@
+
+
@@ -458,12 +458,12 @@
\[ {}_{\texttt{frame}} F = \begin{bmatrix} f \\ \tau \end{bmatrix} \]
-
-
-
+
+
+
@@ -489,9 +489,6 @@
-
-
-
@@ -499,6 +496,9 @@
+
+
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html b/v0.18.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
index e1e2c0d356..064d5d0a8b 100644
--- a/v0.18.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
+++ b/v0.18.0/classBipedalLocomotion_1_1ContactModels_1_1ContinuousContactModel.html
@@ -95,8 +95,8 @@ Contents
$f=k(x_0 - x)- b x$
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html b/v0.18.0/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
index b7caae1ab6..af73103220 100644
--- a/v0.18.0/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
+++ b/v0.18.0/classBipedalLocomotion_1_1Contacts_1_1GlobalCoPEvaluator.html
@@ -108,14 +108,14 @@ Contents
\[ {}^{I} x_{\text{CoP}}^{\text{global}} = \frac{1}{\sum_{i=1}^{n} f_{z,i}} \sum_{i=1}^{n} ({}^I f_{z,i} \; \; x_{\text{CoP},i}) \]
+
+
-
-
@@ -467,12 +467,12 @@ Contents
-
-
-
+
+
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html b/v0.18.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
index 4d7b8e3e65..0c30eecf26 100644
--- a/v0.18.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
+++ b/v0.18.0/classBipedalLocomotion_1_1ContinuousDynamicalSystem_1_1CentroidalDynamics.html
@@ -87,8 +87,8 @@ Contents
-
+
@@ -268,10 +268,10 @@ Contents
$\bar{g}^\top = \begin{bmatrix} g^\top & 0_{1\times3} \end{bmatrix}$
-
-
+
+
@@ -346,10 +346,10 @@ Contents
${}_{\bar{G}} h^{p} = m v_{\text{CoM}}$
+
-
diff --git a/v0.18.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html b/v0.18.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
index 6a14cf153c..aeba7d5fba 100644
--- a/v0.18.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
+++ b/v0.18.0/classBipedalLocomotion_1_1Estimators_1_1RobotDynamicsEstimator_1_1JointVelocityStateDynamics.html
@@ -84,9 +84,9 @@ Contents
\[ \ddot{s} = H^{-1} [\tau_{m} - \tau_{F} + (\sum J^T_{FT} f_{FT}) + + (\sum J^T_{ext} f_{ext}) - F^T {}^B \dot v - h ] \]
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html b/v0.18.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
index 9f915a230b..7734cf82ca 100644
--- a/v0.18.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1IK_1_1AngularMomentumTask.html
@@ -93,10 +93,10 @@ Contents
\[ A_{cmm_\omega} \nu = {}^{G[A]} h_\omega ^* \]
-
+
@@ -145,10 +145,10 @@ Contents
${}^{G[A]} h_\omega ^*$
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1IK_1_1DistanceTask.html b/v0.18.0/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
index fe13c5b25f..08b3509249 100644
--- a/v0.18.0/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1IK_1_1DistanceTask.html
@@ -93,8 +93,8 @@ Contents
\[ \frac{1}{d} p ^ \top J_p \nu = k (d ^ * - d) \]
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1IK_1_1GravityTask.html b/v0.18.0/classBipedalLocomotion_1_1IK_1_1GravityTask.html
index 3e73cb23c6..85a6fac4b6 100644
--- a/v0.18.0/classBipedalLocomotion_1_1IK_1_1GravityTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1IK_1_1GravityTask.html
@@ -94,6 +94,10 @@ Contents
+
+
+
+
@@ -104,10 +108,6 @@ Contents
-
-
-
-
@@ -191,8 +191,8 @@ Contents
${} ^ W g ^ *$
-
+
@@ -254,13 +254,13 @@ Contents
$ a^\top b = ||a|| ~||b|| \cos(\theta) $
-
+
@@ -295,13 +295,13 @@ Contents
-
-
+
+
@@ -333,10 +333,10 @@ Contents
-
-
+
+
@@ -436,10 +436,10 @@ Contents
-
-
+
+
@@ -576,9 +576,9 @@ Contents
\[ \dot{V} = -{}^b\hat{V}^\top{}^w{R}_b^\top S(e_3){}^w\omega. \]
-
+
@@ -622,8 +622,6 @@ Contents
-
-
@@ -637,6 +635,8 @@ Contents
+
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html b/v0.18.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
index 13a6e56e38..3910ce6072 100644
--- a/v0.18.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1IK_1_1JointLimitsTask.html
@@ -85,10 +85,10 @@ Contents
-
-
+
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html b/v0.18.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
index b35384a4e9..5681df82bc 100644
--- a/v0.18.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1IK_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \dot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1IK_1_1R3Task.html b/v0.18.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
index bf223c4d3c..b62de09212 100644
--- a/v0.18.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
+++ b/v0.18.0/classBipedalLocomotion_1_1IK_1_1R3Task.html
@@ -94,8 +94,8 @@ Contents
\[ J_l \nu = v ^ * \]
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html b/v0.18.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
index 1a66f14216..49d857e9b6 100644
--- a/v0.18.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
+++ b/v0.18.0/classBipedalLocomotion_1_1IK_1_1SO3Task.html
@@ -95,8 +95,8 @@ Contents
\[ J_\omega \nu = \omega ^ * \]
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html b/v0.18.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
index 239cb47cfa..6f0f002443 100644
--- a/v0.18.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
+++ b/v0.18.0/classBipedalLocomotion_1_1Planners_1_1ConvexHullHelper.html
@@ -97,16 +97,16 @@ Contents
-
-
-
-
+
+
+
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html b/v0.18.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
index 424f104ca9..d72d5646ba 100644
--- a/v0.18.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
+++ b/v0.18.0/classBipedalLocomotion_1_1Planners_1_1SO3Planner.html
@@ -85,14 +85,14 @@ Contents
\[ \epsilon = \text{log} \left(R_0^\top R_f \right) \]
-
+
+
+
-
-
@@ -116,14 +116,14 @@ Contents
\[ \epsilon = \text{log} \left(R_f^\top R_0 \right) \]
-
+
+
+
-
-
@@ -258,8 +258,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
@@ -327,8 +327,8 @@
${}^{\mathcal{I}}R_{\mathcal{B}_T}$
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html b/v0.18.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
index 5f021a2013..9bf9193a8a 100644
--- a/v0.18.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1TSID_1_1AngularMomentumTask.html
@@ -85,21 +85,21 @@ Contents
-
-
-
+
+
+
-
-
-
+
+
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html b/v0.18.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
index 3d8fb8d94e..a20b294a24 100644
--- a/v0.18.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1TSID_1_1BaseDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{b}(q) \dot{\nu} + h_{b}(q,\nu) = \sum J_k^\top f_k \]
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html b/v0.18.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
index 38b1d69416..1b0dd42824 100644
--- a/v0.18.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1TSID_1_1JointDynamicsTask.html
@@ -83,13 +83,13 @@ Contents
\[ M_{s}(q) \dot{\nu} + h_{s}(q,\nu) = \sum J_k^\top f_k + \tau \]
-
+
diff --git a/v0.18.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html b/v0.18.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
index 1307e824c2..ab53138723 100644
--- a/v0.18.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
+++ b/v0.18.0/classBipedalLocomotion_1_1TSID_1_1JointTrackingTask.html
@@ -83,7 +83,6 @@ Contents
\[ \begin{bmatrix} 0_6 & I_n \end{bmatrix} \nu = \ddot{s} ^ * \]
-
@@ -92,6 +91,7 @@ Contents
+
diff --git a/v0.18.0/so3-minjerk.html b/v0.18.0/so3-minjerk.html
index 9bcd07476e..0a9c6d1bdf 100644
--- a/v0.18.0/so3-minjerk.html
+++ b/v0.18.0/so3-minjerk.html
@@ -181,10 +181,10 @@
$R(t_0) = R_0$
+
-
@@ -225,10 +225,10 @@
$\omega(t_0) = \omega_0$
+
-
@@ -541,8 +541,6 @@
-
-
@@ -561,6 +559,8 @@
+
+
@@ -667,8 +667,6 @@
-
-
@@ -681,6 +679,8 @@
+
+
@@ -857,10 +857,10 @@
$\log\left( R_0^\top R_f \right)$
-
+
@@ -884,10 +884,10 @@
$\log\left(R_0^\top R_f \right)$
-
+
@@ -911,10 +911,10 @@
$\omega^\wedge(0)$
-
+
@@ -929,10 +929,10 @@
$\omega^\wedge(1)$
-
+