Add desired null space velocity computation.

2016-09-29 22:45:31 -07:00
parent 94c7bbe8e3
commit 29f890ae10
5 changed files with 40 additions and 10 deletions
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.h
+++ b/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();