Added the ability to set the nullspace bias gain in the position and velocity solvers.
Also added basic testing of the nullspace bias task. Ian will expand on this to quantify the amount that the secondary task is affecting the solutions.
The secondary task is roughly doubling the SNS solver time because it has doubled the number of matrix inversions needed. By recognizing that the secondary task was in the joint configuration space, some speed improvement could be achieved, that that is future optimization work.
rethink-imcmahon
commented
8 years ago
Added the ability to set the nullspace bias gain in the position and velocity solvers.
Also added basic testing of the nullspace bias task. Ian will expand on this to quantify the amount that the secondary task is affecting the solutions.
The secondary task is roughly doubling the SNS solver time because it has doubled the number of matrix inversions needed. By recognizing that the secondary task was in the joint configuration space, some speed improvement could be achieved, that that is future optimization work.