Commits · 25186abb8dedb988d5119922511e7739f1b2b07e · Stack Of Tasks / pinocchio · GitLab

Snippets Groups Projects

Mar 30, 2015
- IVIGIT: added COM. · 25186abb
  Nicolas Mansard authored 10 years ago
  
  25186abb
- Addeds partial jacobian computation. · df13bd83
  Nicolas Mansard authored 10 years ago
  
  df13bd83
- Clean CRBA and RNEA tests. · cd76ce13
  Nicolas Mansard authored 10 years ago
  
  cd76ce13
- Minor modif in Inertia. · 8b2d2602
  Nicolas Mansard authored 10 years ago
  
  8b2d2602
- Removed useless oMi computation from RNEA. · c5855e1e
  Nicolas Mansard authored 10 years ago
  
  c5855e1e
- IVIGIT: added unittest/timings. · b62ca5d3
  Nicolas Mansard authored 10 years ago
  
  b62ca5d3
- Added rw access to rotation and rotation. · eba3369f
  Nicolas Mansard authored 10 years ago
  
  eba3369f
- Minor bug correction (was not compiling). · 4ef47a93
  Nicolas Mansard authored 10 years ago
  
  4ef47a93
- Call sample-models from unittest/rnea. · fb90af5f
  Nicolas Mansard authored 10 years ago
  
  fb90af5f
- Added local jacobian in jacobian.hpp. Toal timings for simple-human: 1.9us for... · 59304e5a
  Nicolas Mansard authored 10 years ago
  
  Added local jacobian in jacobian.hpp. Toal timings for simple-human: 1.9us for computation, 0.01 for copy, 0.3us for transform.
  59304e5a
- Modified CRBA to link properly with the new act-on-set. Timings untouched (4.5us). · c4cc2cd9
  Nicolas Mansard authored 10 years ago
  
  c4cc2cd9
- IVIGIT: added act-on-set. · 5f6a50c7
  Nicolas Mansard authored 10 years ago
  
  5f6a50c7
- Added Dense UDUt algorithm in the unitest. · 7f4a88d8
  Nicolas Mansard authored 10 years ago
  
  7f4a88d8
- Added jacobian algorithm. · 5071f19d
  Nicolas Mansard authored 10 years ago
  
  5071f19d
- Set FF to SE3::Identity in model-sample. · 8a83c9cc
  Nicolas Mansard authored 10 years ago
  
  8a83c9cc
- Added Model::existBodyName(). · 127c6a94
  Nicolas Mansard authored 10 years ago
  
  127c6a94
- Change the prototype of CRBA::groupAct. · 766900f9
  Nicolas Mansard authored 10 years ago
  
  766900f9
- Clean 64x warnings due to Model::Index. · 3aa0311a
  Nicolas Mansard authored 10 years ago
  
  3aa0311a
- Before refactoring. · 514b032a
  Nicolas Mansard authored 10 years ago
  
  514b032a
- Added the proper header doc in cholesky.hpp. · 3b4b937e
  Nicolas Mansard authored 10 years ago
  
  3b4b937e
- Minor bug correction in chol::Mv. · bc99ab99
  Nicolas Mansard authored 10 years ago
  
  bc99ab99
- Completed the side algorithms of Cholesky. · 52b2f29c
  Nicolas Mansard authored 10 years ago
  
  52b2f29c
- Final (?) version of Cholesky algorithm: 1.9us for decompo, 0.75us for resolution. · 693337fb
  Nicolas Mansard authored 10 years ago
  
  693337fb
- Complete version with substituion. timings around .25us for Uv, .5 for others. · 931470e5
  Nicolas Mansard authored 10 years ago
  
  931470e5
- Implemented "on the spot" substitution for Cholesky. · c5296506
  Nicolas Mansard authored 10 years ago
  
  c5296506
- Indent. · 0413bf17
  Nicolas Mansard authored 10 years ago
  
  0413bf17
- Added backward and forward substitution of the mass matrix. · 9c4ebded
  Nicolas Mansard authored 10 years ago
  
  9c4ebded
- 64x correction: static cast of long to double (TODO: check this commit). · 19ad18ab
  Nicolas Mansard authored 10 years ago
  
  19ad18ab
- Increase the timing sample in RNEA: 4.8us on a 64x. · 04e23bbc
  Nicolas Mansard authored 10 years ago
  
  04e23bbc
- Marginal cleaning of the init. · 94784869
  Nicolas Mansard authored 10 years ago
  
  94784869
- IVIGIT sample models with no parser. · fc2fca81
  Nicolas Mansard authored 10 years ago
  
  fc2fca81
- Complete implementation with column access. Seems slower (3.1us with lots of variations). · 2d3180f8
  Nicolas Mansard authored 10 years ago
  
  2d3180f8
- Working version for both FF and revolute: 2.8us (slightly more for ff ~2.85us). · 053af607
  Nicolas Mansard authored 10 years ago
  
  053af607
- Tmp version cholesky = 3us for Revolute. · b621c85b
  Nicolas Mansard authored 10 years ago
  
  b621c85b
- Working with FF: 3.9us. · 71c7d3ea
  Nicolas Mansard authored 10 years ago
  
  71c7d3ea
- Block cholesky using tmp: 3.7us. · 3e1f801e
  Nicolas Mansard authored 10 years ago
  
  3e1f801e
- Block cholesky for Revolute only: 5.7us. · f155c3a2
  Nicolas Mansard authored 10 years ago
  
  f155c3a2
- First working version for cholesky for Revolute only, using Featherstone litteral. · bafef1e9
  Nicolas Mansard authored 10 years ago
  
  bafef1e9
- IVIGIT Cholesky. · b60978be
  Nicolas Mansard authored 10 years ago
  
  b60978be
- Changed the CRBA to discard the 'i' arg in the internal loops. · cf9ca628
  Nicolas Mansard authored 10 years ago
  
  cf9ca628