Olivier Stasse authored 6 years ago and olivier stasse committed 6 years ago

Related to PR #75 on sot-core

Joseph Mirabel authored 6 years ago and Olivier Stasse committed 6 years ago

* Static members may be changed in the module. When the SoT controller
* is restarted, it will not reload the modules. To let child classes
* change them they must be dynamic members.

* Position and Jacobian signals should be created when called

sot-dynamic-pinocchio does not try anymore to appear as sot-dynamic.

* Use pointer to pinocchio model object instead of holding the resource in Dynamic entity
* Remove API for setting model parameters. Use Pinocchio API directly

These members still need to be redefined when describing a humanoid robot

More REP120-friendly.

The rightHand info was always the identity matrix.
Directly use the getHandParameter and remove
unnecessary intermediate operations.

  Compute zmp from force sensors in the feet.

  Some initializations that used to be performed in this package were in fact
  application dependent. These initializations have been moved to the new
  package sot-application.
  - class solver has been removed,
  - features and tasks are not created anymore in AbstractHumanoidRobot class.

This commit remove files and references which are now in different packages.

  To trace all default signals, call AbstracHumanoidRobot.traceDefaultSignals
  method.

  This file is now defined by package sot-hrp2.

    This task contains the center of mass and ankles features.

    Both methods take a task as input and forward to Solver.sot.