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7f9fdb1e

Commit 7f9fdb1e authored 9 years ago by Peter Kaiser

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ConstrainedOptimizationIK: Added support for soft constraints

parent e50297ac

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Changes 7

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VirtualRobot/IK/ConstrainedOptimizationIK.cpp 30 additions, 1 deletion

VirtualRobot/IK/ConstrainedOptimizationIK.cpp
VirtualRobot/IK/ConstrainedOptimizationIK.h 2 additions, 0 deletions

VirtualRobot/IK/ConstrainedOptimizationIK.h
VirtualRobot/IK/Constraint.cpp 6 additions, 3 deletions

VirtualRobot/IK/Constraint.cpp
VirtualRobot/IK/Constraint.h 4 additions, 3 deletions

VirtualRobot/IK/Constraint.h
VirtualRobot/IK/constraints/JointLimitAvoidanceConstraint.cpp 7 additions, 3 deletions

...ualRobot/IK/constraints/JointLimitAvoidanceConstraint.cpp
VirtualRobot/IK/constraints/JointLimitAvoidanceConstraint.h 2 additions, 0 deletions

VirtualRobot/IK/constraints/JointLimitAvoidanceConstraint.h
VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp 6 additions, 3 deletions

VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp

with 57 additions and 13 deletions

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