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/ThirdPartyLibs/BussIK/Jacobian.h
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h
@@ -68,6 +68,7 @@ public:
 	void CalcDeltaThetasTranspose();
 	void CalcDeltaThetasPseudoinverse();
 	void CalcDeltaThetasDLS();
+    void CalcDeltaThetasDLS2(const VectorRn& dVec);
 	void CalcDeltaThetasDLSwithSVD();
 	void CalcDeltaThetasSDLS();
    void CalcDeltaThetasDLSwithNullspace( const VectorRn& desiredV);
@@ -136,4 +137,4 @@ public:

 };

-#endif
+#endif