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Commit 3bc5e63d authored by Christopher Wipf's avatar Christopher Wipf
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Refactor TF calculation and swap upper and lower joints 

The joint order in hForce/vForce must remain consistent between
this code and the thermal noise calculation

Also remove a couple of unused variables

Fixes #68
parent 426651e7
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This commit is part of merge request !96. Comments created here will be created in the context of that merge request.
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