Todo List

Member DynamicsSimulator_impl::getExtraJointConstraintForce (const char *characterName, const char *extraJointName, DblSequence6_out contactForce)

implement this method

implement this method

Member hrp::Body::calcMassMatrix (dmatrix &out_M)

replace the unit vector method here with a more efficient method that only requires O(n) computation time

Member hrp::CFSImpl::extractRelAccelsFromLinkPairCase1 (Eigen::Block< rmdmatrix > &Kxn, Eigen::Block< rmdmatrix > &Kxt, LinkPair &linkPair, int testForceIndex, int constraintIndex)

Can the follwoing equations be simplified ?

Member hrp::CFSImpl::setAccelerationMatrix ()

This code does not work correctly when the links are in the same body. Fix it.

This code does not work correctly when the links are in the same body. Fix it.

Member hrp::ForwardDynamicsMM::calcMassMatrix ()

replace the unit vector method here with a more efficient method that only requires O(n) computation time

Member hrp::ForwardDynamicsMM::calcPositionAndVelocityFK ()

remove this equation

Member hrp::inverse (const dmatrix &M)

define dgesv wrapper and use it directly to improve the performance

Member hrp::TMSImpl::convertElevationGrid (VrmlElevationGrid *grid, VrmlIndexedFaceSetPtr &triangleMesh)

copy colors and color indices to triangleMesh

Member ODE_DynamicsSimulator_impl::getExtraJointConstraintForce (const char *characterName, const char *extraJointName, DblSequence6_out contactForce)

implement this method