GitHub PushEvent at 2014-09-12 16:41:44
Repository: moveit_core
Actor: sachinchitta
Payload: {"shas":[["c1329f61a584ddff492c34f492d090c2e60786f0","8b51a9033ef9e92b1fab0fbed81cf2768c92287a@gmail.com","Manipulability Index Error for few DOF\n\nWhen the group has fewer than 6 DOF, the Jacobian is of the form 6xM and when multiplied by its transpose, forms a 6x6 matrix that is singular and its determinant is always 0 (or NAN if the solver cannot calculate it).\r\n\r\nSince calculating the SVD of a Jacobian is a costly operation, I propose to retain the calculation of the Manipulability Index through the determinant for 6 or more DOF (where it produces the correct result), but use the product of the singular values of the Jacobian for fewer DOF.","Konstantinos Chatzilygeroudis",true],["028a6737e290c33b772d13190171b155afefda79","29e36604b70f47652eb03c26e7a1d4a0920c6892@users.noreply.github.com","Merge pull request #200 from costashatz/patch-2\n\nManipulability Index Error for few DOF","Sachin Chitta",true]],"size":2,"ref":"refs/heads/indigo-devel","head":"028a6737e290c33b772d13190171b155afefda79"}