Commit c5942ca9 authored by Rohan Budhiraja's avatar Rohan Budhiraja
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[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$ </CENTER> <BR>
/// 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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