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https://github.com/bulletphysics/bullet3
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75e86051c2
Uses Kuka IIWA model description and 4 methods: Selectively Damped Least Squares,Damped Least Squares, Jacobi Transpose, Jacobi Pseudo Inverse Tweak some PD values in Inverse Dynamics example and Robot example.
46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
/*
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*
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* Mathematics Subpackage (VrMath)
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*
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*
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* Author: Samuel R. Buss, sbuss@ucsd.edu.
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* Web page: http://math.ucsd.edu/~sbuss/MathCG
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*
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*
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*
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*
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*/
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//
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// VectorRn: Vector over Rn (Variable length vector)
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//
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#include "VectorRn.h"
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VectorRn VectorRn::WorkVector;
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double VectorRn::MaxAbs () const
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{
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double result = 0.0;
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double* t = x;
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for ( long i = length; i>0; i-- ) {
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if ( (*t) > result ) {
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result = *t;
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}
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else if ( -(*t) > result ) {
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result = -(*t);
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}
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t++;
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}
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return result;
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} |