set up some singularity filtering for the joint based contact switch #1130
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Beomyeong
approved these changes
Dec 9, 2025
| this.horizontalVelocityThreshold = horizontalVelocityThreshold; | ||
| this.verticalVelocityThreshold = verticalVelocityThreshold; | ||
| this.verticalVelocityHighThreshold = verticalVelocityHighThreshold; | ||
| this.jacobianDeterminantThreshold = jacobianDeterminantThreshold; |
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since there are lots of thresholds in this class, maybe change this to be called "jacobianDeterrminantSingularityThreshold" to indicate this is for singularity checking, not touchdown detection checking
| this.defaultVerticalVelocityThreshold = defaultVerticalVelocityThreshold; | ||
| } | ||
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| public void setDefaultJacobianDeterminantThreshold(double defaultJacobianDeterminantThreshold) |
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same comment as I left on the other class. This could be misinterpreted as the jacobian transpose force estimate threshold
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