Damping factor

[a.marrazzo19]

Good morning,
i would like to ask if the damping factor, implemented in DLS inverse kinematics on VREP, is a square value or not.

Best regards
Antonio

[coppelia]

Hello Antonio,

it is not a square value. For the code:

Code: Select all

    if (calculationMethod==sim_ik_damped_least_squares_method)
    {
        CMatrix JT(mainMatrix);
        JT.transpose();
        CMatrix DLSJ(doF,eqNumb);
        CMatrix JJTInv(mainMatrix*JT);
        CMatrix ID(mainMatrix.rows,mainMatrix.rows);
        ID.setIdentity();
        ID/=1.0f/(dlsFactor*dlsFactor);
        JJTInv+=ID;
        if (!JJTInv.inverse())
            return(-1);
        DLSJ=JT*JJTInv;
        solution=DLSJ*mainErrorVector;
    }

Cheers