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Added redundancy resolution with joint damping term through null-space projection - #55

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Prier merged 4 commits into
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osc_redundancy_resolution
Sep 1, 2026
Merged

Added redundancy resolution with joint damping term through null-space projection#55
Prier merged 4 commits into
mainfrom
osc_redundancy_resolution

Added a function set_Kd_null() for setting the damping used for maint…

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SonarQubeCloud / SonarCloud Code Analysis succeeded Aug 27, 2026 in 2m 9s

Quality Gate passed

Issues
2 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

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Annotations

Check warning on line 17 in examples/simulation/eurofusion/cpp/eurofusion_cartesian_motion_controller.cpp

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@sonarqubecloud sonarqubecloud / SonarCloud Code Analysis

Replace constant with "std::numbers::pi". 

See more on https://sonarcloud.io/project/issues?id=SDU-Robotics_sdu_controllers&issues=AaBCyulHVW9Uhc9pjquF&open=AaBCyulHVW9Uhc9pjquF&pullRequest=55

Check warning on line 20 in src/controllers/operational_space_controller.cpp

See this annotation in the file changed.

@sonarqubecloud sonarqubecloud / SonarCloud Code Analysis

Do not assign data members in a constructor. Initialize member "Kd_null_" in an initialization list. 

See more on https://sonarcloud.io/project/issues?id=SDU-Robotics_sdu_controllers&issues=AaBC_ct3IVN40NsQ_m4i&open=AaBC_ct3IVN40NsQ_m4i&pullRequest=55
View more details on SonarQubeCloud