-
Run existing scala space code on dev machines with finger H matrix
-
Write function to make a circle function that fits in the feasible wrench space
-
Compute the force vectors for each of 1000 points along that circle in force space.
-
For each of the force vectors, compute 1000 feasible points into a matrix called X_t, rows = points, cols = muscles
-
Verify that any given X_t make sense algorithm
-
create an Array[X_t=1, X_t=2, ..., X_t=k] where X is a feasible point matrix, t is the timeslice, k is the number of force vectors. Call it the KpolytopeArray
-
first_X_list <- grab all even numbered elements in the Kpolytope Array
-
second_X_list <- grab all odd numbered elements in the KpolytopeArray
-
zipWith (elements_where_getting_from_1_to_2_is_feasible) first_x_list second_x_list
define return_elements_where_getting_from_1_to_2_is_feasible