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Jacobian pseudo inverse IK using lapack solvers #33

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VladimirIvan opened this issue Jul 22, 2016 · 1 comment
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Jacobian pseudo inverse IK using lapack solvers #33

VladimirIvan opened this issue Jul 22, 2016 · 1 comment
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@VladimirIvan
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Use Lapack's dpotrf and dpotri for matrix inversion (see AICO implementation).
@VladimirIvan
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Implemented in 4d46f82
Also added joint limit handling

@VladimirIvan VladimirIvan reopened this Jul 25, 2016
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