- pair iterations for joint solver
- pair iterations for collision solver
- maintain accurate velocity in joint Apply step (required to work properly collisions)
- dense matrix for linear equations solving (runtime dimensioned with compile-time maximium)
- Cholesky factorizing and linear equation solver for dense matrix
- dense matrix units tests
- dense matrix natvis
- transient handle natvis
#rb none
#ROBOMERGE-SOURCE: CL 10262914 via CL 10262930 via CL 10262935
#ROBOMERGE-BOT: (v591-10236483)
[CL 10262943 by chris caulfield in Main branch]
- add kinematic target interpolation
- fix non-cone swing axis index in joint solve
- disable velocity solve by default (Unit tests are set up for position solve. RBAN overrides it anyway)
#rb none
#ROBOMERGE-SOURCE: CL 9882611 via CL 9882624
#ROBOMERGE-BOT: (v553-9872581)
[CL 9882799 by chris caulfield in Main branch]
#rb jordan.cristiano, chris.caulfield, thomas.sarkanen
[FYI] ben.woodhouse, chris.bunner
#ROBOMERGE-SOURCE: CL 9603884 via CL 9603950 via CL 9603954
#ROBOMERGE-BOT: (v526-9587114)
[CL 9604203 by andrew ladenberger in Main branch]
#rb Chris.Caulfield
[FYI] Jordan.Cristiano, Thomas.Sarkanen
#ROBOMERGE-SOURCE: CL 9424520 via CL 9424522 via CL 9424523
#ROBOMERGE-BOT: (v480-9420520)
[CL 9424524 by andrew ladenberger in Main branch]
#rb none
#ROBOMERGE-OWNER: michael.lentine
#ROBOMERGE-AUTHOR: michael.lentine
#ROBOMERGE-SOURCE: CL 9374650 via CL 9374665
#ROBOMERGE-BOT: (v456-9359915)
[CL 9385990 by michael lentine in Main branch]