Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Humanoid Path Planner
hpp-constraints
Commits
d52760dc
Commit
d52760dc
authored
Jul 22, 2021
by
alexandrethiault
Browse files
Fixed method projectVectorOnKernel
parent
04f584cd
Pipeline
#15297
failed with stage
in 8 minutes and 36 seconds
Changes
2
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
include/hpp/constraints/solver/by-substitution.hh
View file @
d52760dc
...
...
@@ -152,7 +152,7 @@ namespace hpp {
/// J^{+}J(\textbf{q}_{from})\right) (\textbf{v})
/// \f]
void
projectVectorOnKernel
(
ConfigurationIn_t
from
,
vectorIn_t
velocity
,
Configuration
Out_t
result
)
const
;
vector
Out_t
result
)
const
;
/// Project configuration "to" on constraint tangent space in "from"
///
...
...
src/solver/by-substitution.cc
View file @
d52760dc
...
...
@@ -223,7 +223,7 @@ namespace hpp {
}
void
BySubstitution
::
projectVectorOnKernel
(
ConfigurationIn_t
arg
,
vectorIn_t
darg
,
Configuration
Out_t
result
)
const
(
ConfigurationIn_t
arg
,
vectorIn_t
darg
,
vector
Out_t
result
)
const
{
if
(
constraints_
.
empty
()
||
reducedDimension
()
==
0
)
{
result
=
darg
;
...
...
@@ -242,6 +242,8 @@ namespace hpp {
vector_t
tmp
(
getV1
(
svd_
,
rank
).
adjoint
()
*
dqSmall_
);
dqSmall_
.
noalias
()
-=
getV1
(
svd_
,
rank
)
*
tmp
;
// Otherwise two uninitialized values may sum up to NaN
result
.
setZero
();
freeVariables_
.
lview
(
result
)
=
dqSmall_
;
}
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment