Tom Forsyth
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issues of
Tom Forsyth
Kinematic singularities can cause the M matrix of the LCP to lose rank. Detect these singularities and reduce the dimension of the LCP to yield a valid solution.
enhancement
Tom Forsyth
Kinematic singularities can cause the M matrix of the LCP to lose rank. Detect these singularities and reduce the dimension of the LCP to yield a valid solution.