Modify damped least square IK formulation. Test setting joint damping coefficients for IK.

2017-01-31 22:58:37 -08:00
parent 2fa3e267fc
commit 0022d0dafb
8 changed files with 59 additions and 5 deletions
--- a/examples/SharedMemory/IKTrajectoryHelper.h
+++ b/examples/SharedMemory/IKTrajectoryHelper.h
@@ -31,6 +31,7 @@ public:
 		double* q_new, int ikMethod, const double* linear_jacobian, const double* angular_jacobian, int jacobian_size, const double dampIk[6]);
    
    bool computeNullspaceVel(int numQ, const double* q_current, const double* lower_limit, const double* upper_limit, const double* joint_range, const double* rest_pose);
+    bool setDampingCoeff(int numQ, const double* coeff);
    
 };
 #endif //IK_TRAJECTORY_HELPER_H