Ayush Agrawal

When adding contact through the [addContact](https://github.com/ayonga/frost-dev/blob/master/matlab/robotics/@RobotLinks/addContact.m#L60)() method, what frame is the contact wrench represented in? Is it in the the inertial frame or the body frame of the contact. From...

JacStructFuncs field missing in solver.Constraint and solver.Objective

1

On running both the examples, I get the following error: ``` Reference to non-existent field 'JacStructFuncs'. Error in frost_c.formulateProblemStructure (line 63) jac_pattern = feval(obj.Constraint.JacStructFuncs{i},0); Error in frost_c.createDataFile (line 6) obj...

internal compiler error: Segmentation fault

1

I occasionally get the following error when using `make`. Any idea what might be causing this. I also recompiled all the functions in MATALB before running `make`. `/mnt/d/research/git/Cassie_CFROST/Cassie_two_step/opt_two_step_ds/periodic/c_code/src/gen/J_dxDiscreteMapLeftImpactDoubleSupport.cc: In function...