Add desired null space velocity computation.

examples/ThirdPartyLibs/BussIK/Jacobian.cpp

@@ -320,7 +320,7 @@ void Jacobian::CalcDeltaThetasPseudoinverse()
 
 }
 
-void Jacobian::CalcDeltaThetasDLSwithNullspace()
+void Jacobian::CalcDeltaThetasDLSwithNullspace(const VectorRn& desiredV)
 {	
 	const MatrixRmn& J = ActiveJacobian();
 
@@ -337,11 +337,6 @@ void Jacobian::CalcDeltaThetasDLSwithNullspace()
 	U.Solve( dS, &dT1 );
 	J.MultiplyTranspose( dT1, dTheta );
     
-    // Desired velocity
-    VectorRn desiredV(J.GetNumColumns());
-    desiredV.SetZero();
-    desiredV.Set(3, -0.2);
-    
     // Compute JInv in damped least square form
     MatrixRmn UInv(U.GetNumRows(),U.GetNumColumns());
     U.ComputeInverse(UInv);

examples/ThirdPartyLibs/BussIK/Jacobian.h

@@ -70,7 +70,7 @@ public:
 	void CalcDeltaThetasDLS();
 	void CalcDeltaThetasDLSwithSVD();
 	void CalcDeltaThetasSDLS();
-    void CalcDeltaThetasDLSwithNullspace();
+    void CalcDeltaThetasDLSwithNullspace( const VectorRn& desiredV);
 
 	void UpdateThetas();
     void UpdateThetaDot();