Initialize constraints function #88
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@@ Coverage Diff @@
## main #88 +/- ##
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- Coverage 87.51% 86.10% -1.42%
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Files 89 90 +1
Lines 5086 5167 +81
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- Hits 4451 4449 -2
- Misses 635 718 +83
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janbruedigam
requested changes
Jun 16, 2023
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| function constraintstep!(mechanism::Mechanism{T}, freebodies::Vector{Body{T}}; regularization=1e-6) where T | ||
| # Fetching all the free bodies | ||
| # freebodies = [get_body(mechanism, id) for id in freeids] |
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| end | ||
| end | ||
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| # println([con_jac; I(num_bodies)*regularization]) |
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Merge branch 'initialize_constraints_clean'
Integrate the new
initialize_constraint!function that allows mechanisms to find feasible initial joint conditions. This function enhances the system's overall capability by allowing users to find constraint-satisfying mechanism configurations.This merge combines the changes from the
initialize_constraints_cleanbranch, bringing the new function into the main branch.Authors: Mitchell Fogelson mfogelso@andrew.cmu.edu