Function Karana::Dynamics::Algorithms::evalIndepPoseCoordIndices

Function Karana::Dynamics::Algorithms::evalIndepPoseCoordIndices#

Function Documentation#

km::VecInt Karana::Dynamics::Algorithms::evalIndepPoseCoordIndices(SubGraph &sg, const km::VecInt &available_indices = {})#

Compute the best indices for independent Q coordinates for the bilateral constraints on the system.

For a SubGraph with constraints, only a subset of the Q pose-level coordinates are independent. This method computes the indices of the coordinates in the Q vector that are best choice for independent coordinates (at the current configuration). A non-empty available_indices list can be used to restrict the pool of indices to pick the independent coordinates from.

Since the pose and velocity level constraints may not be the same, the results from this method may not match the constraint and coordinate indices returned by the evalIndepVelConstraintCoordIndices() method.

See the Constraints Related Algorithms section for more information.

Parameters:

  • sg – SubGraph instance

  • available_indices – If non-empty, the indices to pick the independent coordinates from

Returns:

a list of independent coordinate indices based on the pose-level constraints

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