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runPosIC, VelIC, AccIC numerically correct

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This commit is contained in:
Aik-Siong Koh
2023-06-24 23:08:29 -06:00
parent 371b13a9e0
commit c30ee64b89
110 changed files with 2171 additions and 129 deletions
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16
MbDCode/RedundantConstraint.cpp
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@@ -59,6 +59,10 @@ void MbD::RedundantConstraint::setqsulam(FColDsptr col)
{
}
void MbD::RedundantConstraint::setqsudotlam(FColDsptr col)
{
}
void MbD::RedundantConstraint::fillPosICError(FColDsptr col)
{
}
@@ -74,3 +78,15 @@ void MbD::RedundantConstraint::fillPosKineJacob(SpMatDsptr mat)
void MbD::RedundantConstraint::preVelIC()
{
}
void MbD::RedundantConstraint::preAccIC()
{
}
void MbD::RedundantConstraint::fillAccICIterError(FColDsptr col)
{
}
void MbD::RedundantConstraint::setqsuddotlam(FColDsptr qsudotlam)
{
}