### [doc][src/algorithm][Dynamics] example of damping value which works

parent 4118189f
 ... ... @@ -37,7 +37,7 @@ namespace se3 /// \text{s.t.} & & J (q) \ddot{q} + \gamma (q, \dot{q}) = 0 \end{eqnarray} \f$/// where \f$ \ddot{q}_{\text{free}} \f$is the free acceleration (i.e. without constraints), /// \f$ M \f$is the mass matrix, \f$ J \f$the constraint Jacobian and \f$ \gamma \f\$ is the constraint drift. /// By default, the constraint Jacobian is assumed to be full rank, and undamped cholesky inverse is performed. /// By default, the constraint Jacobian is assumed to be full rank, and undamped Cholesky inverse is performed. /// /// \param[in] model The model structure of the rigid body system. /// \param[in] data The data structure of the rigid body system. ... ... @@ -47,7 +47,8 @@ namespace se3 /// \param[in] J The Jacobian of the constraints (dim nb_constraints*model.nv). /// \param[in] gamma The drift of the constraints (dim nb_constraints). /// \param[in] inv_damping Damping factor for cholesky decomposition of JMinvJt. Set to zero if constraints are full rank. /// \param[in] updateKinematics If true, the algorithm calls first se3::computeAllTerms. Otherwise, it uses the current dynamic values stored in data. /// \param[in] updateKinematics If true, the algorithm calls first se3::computeAllTerms. Otherwise, it uses the current dynamic values stored in data. \\ /// \note A hint: 1e-12 as the damping factor gave good result in the particular case of redundancy in contact constraints on the two feet. /// /// \return A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector. /// ... ...
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