src/taesooLib/BaseLib/motion/FullbodyIK_MotionDOF_MultiTarget_lbfgs.cpp
MomentumConstraintInfo(VRMLloader const& l, IK_sdls::LoaderToTree* s):orig_chain((MotionLoader*)&l), loader(l),solver(s){
			deltaS.setSize(6); deltaS.setAllValue(0.0);
			Hcom.setSize(6);
			desired_vel.setSize(6);
			orig_chain.init();
		}
// for calculating J and momentumCOMtoPose (world velocity). solver has the current pose.
for calculating J and momentumCOMtoPose (world velocity). solver has the current pose.
for calculating J and momentumCOMtoPose ( world velocity ) . solver has the current pose .
MomentumConstraintInfo(VRMLloader const& l, IK_sdls::LoaderToTree* s):orig_chain((MotionLoader*)&l), loader(l),solver(s){
			deltaS.setSize(6); deltaS.setAllValue(0.0);
			Hcom.setSize(6);
			desired_vel.setSize(6);
			orig_chain.init();
		}
MomentumConstraintInfo ( VRMLloader const & l , IK_sdls :: LoaderToTree * s ) : orig_chain ( ( MotionLoader * ) & l ) , loader ( l ) , solver ( s ) { deltaS . setSize ( 6 ) ; deltaS . setAllValue ( 0.0 ) ; Hcom . setSize ( 6 ) ; desired_vel . setSize ( 6 ) ; orig_chain . init ( ) ; }
for calculating J and momentumCOMtoPose (world velocity).
for calculating J and momentumCOMtoPose ( world velocity ) .