@online{olson,
  author = {Olson, Dieter},
  title = {After {One} {Solution:} {Exploring} {Dynamically}
    {Equivalent} {Force} {Allocations}},
  date = {},
  url = {https://affinedrift.com/articles/after-one-solution-null-space-exploration.html},
  langid = {en},
  abstract = {An inverse-dynamics balance A x = b in joint torques,
    constraint multipliers and grip forces generally has infinitely many
    solutions. The article treats the solution set as an affine fibre
    and proves seven propositions: affine completeness and emptiness,
    metric-dependent representatives, reduced-Hessian optimization,
    exact invariance of functionals, bounded leakage of approximate null
    bases, local solution-manifold continuation, and temporal
    containment of envelopes. Every quoted number is read from a shared
    example file produced by companion code. The companion code is
    pinned to merged upstream revisions; nothing here is a result about
    a golfer.}
}