Function Karana::Dynamics::Algorithms::evalIndepPoseConstraintIndices

Function Karana::Dynamics::Algorithms::evalIndepPoseConstraintIndices#

Function Documentation#

km::VecInt Karana::Dynamics::Algorithms::evalIndepPoseConstraintIndices(SubGraph &sg)#

Compute the indices for best independent bilateral constraints on the system based on the pose gradients matrix map.

For a SubGraph with constraints, only a subset of the Q pose-level constraints may be independent. This method computes the indices of the independent constraints.

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

Returns:

a pair consisting of a list of independent constraint indices, and a list of independent coordinate indices based on the pose-level constraints

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