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Clarify that projection is Euclidean

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Aaron Fenyes 2024-12-23 11:28:19 -08:00
parent 6df0e855cf
commit f5ba861ffa
1 changed files with 3 additions and 2 deletions
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5
app-proto/src/engine.rs
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@ -139,8 +139,9 @@ impl ConfigSubspace {
self.assembly_dim self.assembly_dim
} }
// find the projection onto this subspace of the motion where the element // find the projection onto this subspace, with respect to the Euclidean
// with the given column index has velocity `v` // inner product, of the motion where the element with the given column
// index has velocity `v`
pub fn proj(&self, v: &DVectorView<f64>, column_index: usize) -> DMatrix<f64> { pub fn proj(&self, v: &DVectorView<f64>, column_index: usize) -> DMatrix<f64> {
if self.dim() == 0 { if self.dim() == 0 {
const ELEMENT_DIM: usize = 5; const ELEMENT_DIM: usize = 5;