23 void SetDerivatives(
int id,
int dof_id,
const Vector3d &
v,
double norm_weight);
31 void Lock(
int dof_id,
double delta);
36 void Restrict(VectorXd &d_theta, MatrixXd &nullspace);
43 int m_dof, m_task_size;
47 MatrixXd m_jacobian, m_jacobian_tmp;
55 VectorXd m_d_norm_weight;
62 VectorXd m_svd_u_beta;
68 VectorXd m_d_theta_tmp;
76 VectorXd m_weight_sqrt;
ATTR_WARN_UNUSED_RESULT const BMVert * v
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
void Lock(int dof_id, double delta)
void SetDerivatives(int id, int dof_id, const Vector3d &v, double norm_weight)
void SetDoFWeight(int dof, double weight)
void Restrict(VectorXd &d_theta, MatrixXd &nullspace)
void SubTask(IK_QJacobian &jacobian)
double AngleUpdateNorm() const
void SetBetas(int id, int size, const Vector3d &v)
double AngleUpdate(int dof_id) const
void ArmMatrices(int dof, int task_size)
bool ComputeNullProjection()