Commits · 5f6a50c71b86ac0c34960d78c3b18a44ea7526cd · Stack Of Tasks / pinocchio · GitLab

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Mar 30, 2015
- 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
- Moved joint::nv as a function. · 907fbb5a
  Nicolas Mansard authored 10 years ago
  
  907fbb5a
- Remove the duplicata crba crba2. · fe8407cd
  Nicolas Mansard authored 10 years ago
  
  fe8407cd
- Added ostream<< operator in Model (plus added the data variable for cholesky). · 6f01148e
  Nicolas Mansard authored 10 years ago
  
  6f01148e
- Added a éfree flyer" option in the urdf parser. · 2aece910
  Nicolas Mansard authored 10 years ago
  
  2aece910
- Proper implementation of sym3. RNEA=5.7us, CRBA=4.8us. · e3b613af
  Nicolas Mansard authored 10 years ago
  
  e3b613af
- Minor correction to improve computation time in Sym3. (error in the commit:... · f3667f3f
  Nicolas Mansard authored 10 years ago
  
  Minor correction to improve computation time in Sym3. (error in the commit: unittest symmetric working, but tspatial is broken. Fixed in the following commit.)
  f3667f3f
- Complete version of Sym3, with unittest. · c226662f
  Nicolas Mansard authored 10 years ago
  
  c226662f
- IVIGIT added Sym3 from Metapod::lti · fa23ebc0
  Nicolas Mansard authored 10 years ago
  
  fa23ebc0
- Clean comit for both CBA and RNEA: rnea=6.1us, crba=8.4us. · fe0f1262
  Nicolas Mansard authored 10 years ago
  
  fe0f1262
- CRBA single loop working and efficient: 8us for the simple h. · c5218dbf
  Nicolas Mansard authored 10 years ago
  
  c5218dbf
- Fast version of the two-loop crba (10us on the simple h). · 9ecf12e6
  Nicolas Mansard authored 10 years ago
  
  9ecf12e6