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Searched refs:mNullSpaceCache (Results 1 – 6 of 6) sorted by relevance

/dports/misc/dartsim/dart-6.11.1/dart/constraint/
H A DBalanceConstraint.cpp205 mNullSpaceCache.setIdentity(nDofs, nDofs); in evalGradient()
224 mNullSpaceCache in evalGradient()
230 mNullSpaceCache.setZero(); in evalGradient()
238 _grad, mComJacCache, mNullSpaceCache, mLastError, mDamping); in evalGradient()
256 mNullSpaceCache in evalGradient()
261 mNullSpaceCache.setZero(nDofs, nDofs); in evalGradient()
275 _grad, mEEJacCache, mNullSpaceCache, -mLastError, mDamping); in evalGradient()
293 mNullSpaceCache in evalGradient()
298 mNullSpaceCache.setZero(nDofs, nDofs); in evalGradient()
319 _grad, mEEJacCache, mNullSpaceCache, -mLastError, mDamping); in evalGradient()
H A DBalanceConstraint.hpp189 Eigen::MatrixXd mNullSpaceCache; member in dart::constraint::BalanceConstraint
/dports/misc/dartsim/dart-6.11.1/dart/dynamics/
H A DHierarchicalIK.cpp278 return mNullSpaceCache; in computeNullSpaces()
282 mNullSpaceCache.resize(hierarchy.size()); in computeNullSpaces()
289 Eigen::MatrixXd& NS = mNullSpaceCache[i]; in computeNullSpaces()
304 NS = mNullSpaceCache[i - 1]; in computeNullSpaces()
343 return mNullSpaceCache; in computeNullSpaces()
H A DHierarchicalIK.hpp332 mutable std::vector<Eigen::MatrixXd> mNullSpaceCache; member in dart::dynamics::HierarchicalIK
H A DInverseKinematics.cpp1747 math::extractNullSpace(mSVDCache, mNullSpaceCache); in evalGradient()
1748 _grad += mNullSpaceCache * mNullSpaceCache.transpose() * mGradCache; in evalGradient()
H A DInverseKinematics.hpp1354 Eigen::MatrixXd mNullSpaceCache; member in dart::dynamics::InverseKinematics::Objective