Add matrix inverse computation in BussIK.

2016-09-29 15:45:57 -07:00
parent 67c49fa701
commit 0ee12475af
5 changed files with 79 additions and 3 deletions
--- a/examples/SharedMemory/IKTrajectoryHelper.cpp
+++ b/examples/SharedMemory/IKTrajectoryHelper.cpp
@@ -129,7 +129,8 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
 		case IK2_DLS:
        case IK2_VEL_DLS:
 		case IK2_VEL_DLS_WITH_ORIENTATION:
-            m_data->m_ikJacobian->CalcDeltaThetasDLS();			// Damped least squares method
+            //m_data->m_ikJacobian->CalcDeltaThetasDLS();			// Damped least squares method
+            m_data->m_ikJacobian->CalcDeltaThetasDLSwithNullspace();
            break;
        case IK2_DLS_SVD:
            m_data->m_ikJacobian->CalcDeltaThetasDLSwithSVD();