Added manipulability tracking, composite diff ik, soechting nullspace...
Added manipulability tracking, composite diff ik, soechting nullspace constraints and an example graphical user interface in RobotViewer
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- VirtualRobot/CMakeLists.txt 27 additions, 0 deletionsVirtualRobot/CMakeLists.txt
- VirtualRobot/Controller/CartesianPositionController.cpp 158 additions, 0 deletionsVirtualRobot/Controller/CartesianPositionController.cpp
- VirtualRobot/Controller/CartesianPositionController.h 62 additions, 0 deletionsVirtualRobot/Controller/CartesianPositionController.h
- VirtualRobot/Controller/CartesianVelocityController.cpp 287 additions, 0 deletionsVirtualRobot/Controller/CartesianVelocityController.cpp
- VirtualRobot/Controller/CartesianVelocityController.h 74 additions, 0 deletionsVirtualRobot/Controller/CartesianVelocityController.h
- VirtualRobot/IK/CompositeDiffIK/CompositeDiffIK.cpp 525 additions, 0 deletionsVirtualRobot/IK/CompositeDiffIK/CompositeDiffIK.cpp
- VirtualRobot/IK/CompositeDiffIK/CompositeDiffIK.h 240 additions, 0 deletionsVirtualRobot/IK/CompositeDiffIK/CompositeDiffIK.h
- VirtualRobot/IK/CompositeDiffIK/ManipulabilityNullspaceGradient.cpp 62 additions, 0 deletions...ot/IK/CompositeDiffIK/ManipulabilityNullspaceGradient.cpp
- VirtualRobot/IK/CompositeDiffIK/ManipulabilityNullspaceGradient.h 47 additions, 0 deletions...obot/IK/CompositeDiffIK/ManipulabilityNullspaceGradient.h
- VirtualRobot/IK/CompositeDiffIK/Soechting.h 121 additions, 0 deletionsVirtualRobot/IK/CompositeDiffIK/Soechting.h
- VirtualRobot/IK/CompositeDiffIK/SoechtingNullspaceGradient.cpp 114 additions, 0 deletions...alRobot/IK/CompositeDiffIK/SoechtingNullspaceGradient.cpp
- VirtualRobot/IK/CompositeDiffIK/SoechtingNullspaceGradient.h 64 additions, 0 deletionsVirtualRobot/IK/CompositeDiffIK/SoechtingNullspaceGradient.h
- VirtualRobot/Manipulability/AbstractManipulability.cpp 197 additions, 0 deletionsVirtualRobot/Manipulability/AbstractManipulability.cpp
- VirtualRobot/Manipulability/AbstractManipulability.h 102 additions, 0 deletionsVirtualRobot/Manipulability/AbstractManipulability.h
- VirtualRobot/Manipulability/AbstractManipulabilityTracking.cpp 200 additions, 0 deletions...alRobot/Manipulability/AbstractManipulabilityTracking.cpp
- VirtualRobot/Manipulability/AbstractManipulabilityTracking.h 103 additions, 0 deletionsVirtualRobot/Manipulability/AbstractManipulabilityTracking.h
- VirtualRobot/Manipulability/BimanualManipulability.cpp 195 additions, 0 deletionsVirtualRobot/Manipulability/BimanualManipulability.cpp
- VirtualRobot/Manipulability/BimanualManipulability.h 105 additions, 0 deletionsVirtualRobot/Manipulability/BimanualManipulability.h
- VirtualRobot/Manipulability/BimanualManipulabilityTracking.cpp 166 additions, 0 deletions...alRobot/Manipulability/BimanualManipulabilityTracking.cpp
- VirtualRobot/Manipulability/BimanualManipulabilityTracking.h 71 additions, 0 deletionsVirtualRobot/Manipulability/BimanualManipulabilityTracking.h
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