diff options
Diffstat (limited to 'intern/iksolver/intern/IK_QJacobian.h')
| -rw-r--r-- | intern/iksolver/intern/IK_QJacobian.h | 13 |
1 files changed, 4 insertions, 9 deletions
diff --git a/intern/iksolver/intern/IK_QJacobian.h b/intern/iksolver/intern/IK_QJacobian.h index b2d990d5489..a16d7a7a941 100644 --- a/intern/iksolver/intern/IK_QJacobian.h +++ b/intern/iksolver/intern/IK_QJacobian.h @@ -36,7 +36,6 @@ #define NAN_INCLUDED_IK_QJacobian_h #include "TNT/cmat.h" -#include "TNT/fmat.h" #include <vector> #include "MT_Vector3.h" @@ -44,7 +43,7 @@ class IK_QJacobian { public: typedef TNT::Matrix<MT_Scalar> TMatrix; - typedef TNT::Vector<MT_Scalar>TVector; + typedef TNT::Vector<MT_Scalar> TVector; IK_QJacobian(); ~IK_QJacobian(); @@ -71,11 +70,6 @@ public: void Restrict(TVector& d_theta, TMatrix& null); void SubTask(IK_QJacobian& jacobian); -#if 0 - void SetSecondary(int dof_id, MT_Scalar d); - void SolveSecondary(); -#endif - private: void InvertSDLS(); @@ -85,7 +79,7 @@ private: bool m_transpose; // the jacobian matrix and it's null space projector - TMatrix m_jacobian; + TMatrix m_jacobian, m_jacobian_t; TMatrix m_null; /// the vector of intermediate betas @@ -97,9 +91,10 @@ private: /// space required for SVD computation TVector m_svd_w; - TVector m_svd_work_space; TMatrix m_svd_v; TMatrix m_svd_u; + TVector m_work1; + TVector m_work2; TMatrix m_svd_u_t; TVector m_svd_u_beta; |