Create model for Operational Space example.
Simulation of upper body without a controller.
Remove pelvis. Add gravity compensation.
Wrote out code trying to use efficient methods.
Minimal-ish working example of op-space control.
Functional Jacobian TaskSpace classes.
Jacobian transpose operator is functional.
Inertia and Jbar classes.
Functional inefficient TaskSpace class.
Implemented old Newton solve (i.e., excluding step length). Still debugging.
Two-point test cases now seem to be working (though they fail when the softmin0 equations are used).
Amalgamated std::min() and softmin0() methods for handling normal impulses (switch with the UseSoftminInNewton flag). Fixed bug in dpiStar() when !UseSoftminInNewton. Cleaned up code for computing error vector and Jacobian.
Fixed incorrect handling of unilateral constraint on exit from Newton iteration.
Implemented Newton solve including step length alpha. Rough implementation only; neither tested nor debugged.
Corrections to partial derivatives. Still more bugs to track down.
Now using crisp min for evaluating error function and softmin0 when computing Jacobian.
Cleaned up Newton iteration code in preparation for implementing method using maximally dissipative sliding directions.
Implemented solution strategy that uses Newton iteration to solve for maximally dissipative sliding directions. Step length alpha is found in an outer loop using fixed-point iteration. Still tracking down a bug that appears in test A4 with mu=0.
Fixed bug in control flow. Newton iteration loop in generateAndSolveUsingNewtonWithPMD() wasn't exiting on convergence.
Corrected familiar sign errors in error function and Jacobian due to opposite sense of impulses. Catching cases where no directional information is available.