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/MatrixRmn.h
+++ b/examples/ThirdPartyLibs/BussIK/MatrixRmn.h
@@ -110,6 +110,7 @@ public:

 	// Miscellaneous operation
 	MatrixRmn& AddToDiagonal( double d );					// Adds d to each diagonal
+    MatrixRmn& AddToDiagonal( const VectorRn& dVec);

 	// Solving systems of linear equations
 	void Solve( const VectorRn& b, VectorRn* x ) const;	  // Solves the equation   (*this)*x = b;    Uses row operations.  Assumes *this is invertible.