Function k::create_reference_positions_nullspace_function
source ยท pub fn create_reference_positions_nullspace_function<T: RealField>(
reference_positions: Vec<T>,
weight_vector: Vec<T>,
) -> impl Fn(&[T]) -> Vec<T>Expand description
Utility function to create nullspace function using reference joint positions. This is just an example to use nullspace.
H(q) = 1/2(q-q^)T W (q-q^) dH(q) / dq = W (q-q^)