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Improved the abstraction of dynamics

Carlos Mastalli requested to merge topic/dynamics into devel

This PR improves the abstraction of dynamics (task #19 (closed)). The main contribution is that the dynamics systems as the form of:

d/dt[q; v] = [v; a(q,v,u)].

and, as a consequence, its linearise model is:

[dv; da] = [0, I; fx, fv]*[dx; dv] + [0; fu]*du

where dx is the linearised configuration point. Note that the linearised point belongs to the tangential space.

These tasks can be listed as:

  • Updated the state and control in the DDP backward calculations, not in the dynamic one.
  • Removed some inefficiencies in the floating-base dynamics
  • Included operators in the discretizer class (there aren't used yet)
  • Created a data class for the discretizer.
  • Added aq, av, au and discretizer data in the base class for dynamic data.
  • Used the dynamic model for the data creation, not the ddp model.
  • Added some documentation to state clear our definition of dynamic model.
  • fx, fu and dt in the base class for the discretization data.

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