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Add lifted f_v in time freezing #118

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apozharski opened this issue Aug 6, 2024 · 0 comments
Open

Add lifted f_v in time freezing #118

apozharski opened this issue Aug 6, 2024 · 0 comments

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@apozharski
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In CLS, we have the option to lift the velocity state for numerical inversion of M. Add analogous functionality to the cls time freezing reformulations.

I believe this is only easy to do for the multicontact reformulation, but this needs more thought.
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@apozharski