Function pfield::dampedLeastSquares

• Defined in File pfield_common.hpp

Function Documentation

inline Eigen::VectorXd pfield::dampedLeastSquares(const Eigen::MatrixXd &J, const Eigen::VectorXd &V, const double lambda = 1e-3)

Given a Jacobian Matrix J and a 6D twist V, compute the damped least squares solution for the joint velocities.

Parameters:

• J – The Jacobian matrix, size (6 x n)

• V – The 6D twist vector

• lambda – The damping factor for the least squares solution

Returns:

Eigen::VectorXd The computed joint velocities