Function Karana::Dynamics::Algorithms::evalIndepVelConstraintCoordIndices

Function Karana::Dynamics::Algorithms::evalIndepVelConstraintCoordIndices#

Function Documentation#

std::pair<km::VecInt, km::VecInt> Karana::Dynamics::Algorithms::evalIndepVelConstraintCoordIndices(SubGraph &sg, const km::VecInt &available_indices = {})#

Compute the best indices for independent constraints and velocity coordinates using the velocity constraint matrix.

For a SubGraph with constraints, only a subset of the U velocity coordinates are independent (and not all constraints may be independent). This method computes the indices of the independent constraints, and the indices of the coordinates in the U vector that are best choice for independent velocity coordinates (at the current configuration).

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 evalIndepPoseCoordIndices() and evalIndepPoseConstraintIndices() methods.

See the Constraints Related Algorithms section for more information.

Parameters:

  • sg – SubGraph instance

  • available_indices – the list of indices to pick the independent ones from

Returns:

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

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