Commits · 7247d4a1deb67be37b41589d0f564d3c8a0f1ed9 · Guilhem Saurel / jrl-walkgen

Nov 23, 2016
- diminish the time consuption of the dynamic filter · cc4f8982
  mnaveau authored 8 years ago
  
  cc4f8982
- comz ok for going down 10 only · 270c1c8a
  Kevin Giraud-Esclasse authored 8 years ago
  
  270c1c8a
- improve comz climbing, comz ok for going down 15 only · 3ad4c72d
  Kevin Giraud-Esclasse authored 8 years ago
  
  3ad4c72d
- refactoring of foot trajectories, NOK · ca71fda7
  Kevin Giraud-Esclasse authored 8 years ago
  
  ca71fda7
- 10cm goingUpStairs ok · 4747b7af
  Kevin Giraud-Esclasse authored 8 years ago
  
  4747b7af
Nov 15, 2016
- check the cost function and modify the weights · b36bfa98
  mnaveau authored 8 years ago
  
  b36bfa98
Nov 14, 2016
- modify the weight in the cost fonction (to be verified) · d56cac04
  mnaveau authored 8 years ago
  
  d56cac04
Nov 09, 2016
- clean a bit the code · 76eb7de4
  mnaveau authored 8 years ago
  
  76eb7de4
- fix Naveau using 5ms computation QuadProg and Pinocchio · b5626c5c
  mnaveau authored 8 years ago
  
  b5626c5c
Nov 04, 2016
- remove all lower bounds, add an initial guess on the warm start for the final foot position · 5da33491
  mnaveau authored 8 years ago
  
  TODO : check the nonlinear constraints
  5da33491
- add the rotational constraint. · 0dc795da
  mnaveau authored 8 years ago
  
  add a guess on the initial condition for the lineariation.
  0dc795da
Nov 03, 2016
- back to 5ms solving · a5d76965
  mnaveau authored 8 years ago
  
  a5d76965
- use quadprog instead of QPOases, PG NAVEAU2015 provides nice plot (tobe tested in simulation). · 59166d0d
  mnaveau authored 8 years ago
  
  59166d0d
Oct 31, 2016
- introduce quadprog again, clean the cmakelist, advance the code · c84ebe4e
  mnaveau authored 8 years ago
  
  c84ebe4e
- work on the naveau pg, add possibility to compute curent zmpmb, · 9a416e58
  mnaveau authored 8 years ago
  
  paas from 5ms to 100ms,
  9a416e58
- work on stair trajectory · 5648de6e
  mnaveau authored 8 years ago
  
  5648de6e
Oct 12, 2016
- work on 5ms SQP, found some solution for avoiding large acceleration at the end of the step. · e5b6f6f9
  mnaveau authored 8 years ago
  
  e5b6f6f9
- add constraints to the nmpc solver to use planned foot steps. · 0ef801e4
  mnaveau authored 8 years ago
  
  0ef801e4
- compute the proper jacobian of the nonlinear constraints · 3287620b
  mnaveau authored 8 years ago
  
  3287620b
- enable to put different weight on velocity tracking for X Y and Yaw · 1d49dd9c
  mnaveau authored 8 years ago
  
  1d49dd9c
- allow the removal of the "polygon constraints" when the foot is fixed. · 33a11f97
  mnaveau authored 8 years ago
  
  33a11f97
- a lot of modification · 6f3c22ac
  mnaveau authored 8 years ago
  
  6f3c22ac
Aug 22, 2016
- add constraints to the nmpc solver to use planned foot steps. · 4120d4b1
  mnaveau authored 8 years ago
  
  4120d4b1
Aug 19, 2016
- compute the proper jacobian of the nonlinear constraints · 5ce8d1be
  mnaveau authored 8 years ago
  
  5ce8d1be
Aug 18, 2016
- enable to put different weight on velocity tracking for X Y and Yaw · c08e5a61
  mnaveau authored 8 years ago
  
  c08e5a61
- allow the removal of the "polygon constraints" when the foot is fixed. · 24bf000e
  mnaveau authored 8 years ago
  
  24bf000e
Aug 17, 2016
- a lot of modification · 3269f0e0
  mnaveau authored 8 years ago
  
  3269f0e0
Aug 08, 2016
- fix bugs and allow the change of single and double support period · ea676132
  mnaveau authored 8 years ago
  
  ea676132
- put the choice of using the line search to the above class · b5dfdcc4
  mnaveau authored 8 years ago
  
  b5dfdcc4
- fix initialization, (need reorganizization of the constructor · 90774f91
  mnaveau authored 8 years ago
  
  90774f91
- remove redundant variables · 06355840
  mnaveau authored 8 years ago
  
  06355840
May 31, 2016
- add the eigen macro to align every singl vector · 429479c1
  mnaveau authored 8 years ago
  
  429479c1
May 19, 2016

fixx little bug in the nmpc_generator constructor. · dad2580d

mnaveau authored 8 years ago

fix the size in the commonInitialization vector of call_method strings
add the test in 64bits
remove a useless include in the SQP solver

dad2580d

May 17, 2016
- Make all passing test available in teh "make test" · 72f1cfd9
  mnaveau authored 8 years ago
  
  72f1cfd9
- fix the use of the dynamic filter · 3b80d44c
  mnaveau authored 8 years ago
  
  3b80d44c
May 14, 2016
- fix the use of the inverse kinematics with pinocchio · ece49667
  mnaveau authored 8 years ago
  
  ece49667
May 09, 2016
- fix a problem of dimension in the dynamic filter · 49e01913
  mnaveau authored 8 years ago
  
  49e01913
- verify that everything work · 0c99d41e
  mnaveau authored 8 years ago
  
  0c99d41e
- externalize the use or not of the dynamic filter using the CallMethod function · 1e8f845f
  mnaveau authored 8 years ago
  
  1e8f845f
May 04, 2016
- modify the pg so that the trajectory correspond to the master branch · 1c01ea6f
  mnaveau authored 8 years ago
  
  1c01ea6f