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Topic/contact force

Merged Rohan Budhiraja requested to merge proyan/crocoddyl:topic/contact-force into devel

Solves #272 (closed)

Edited by Rohan Budhiraja

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  • Carlos Mastalli
  • Carlos Mastalli
  • We should provide sort of unittest code, however @mnaveau did arrive here yet. Maybe you could add it as Python unittest as I did for other cases.

    Additionally, you need

    1. to investigate what happens in your CI
    2. to format the code as explained in the wiki
  • added 1 commit

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  • mentioned in issue #278 (closed)

  • added 1 commit

    • a08d1a44 - [cost][contact force] add assert to check that the size of activation matches contact

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  • Rohan Budhiraja added 2 commits

    added 2 commits

    • 5a9a7cfb - [contact] save the force applied at the frame as an vectorxd. needed for costmodelcontactforce
    • c3d7a9ac - [cost][contact force] save reference as eigen vector

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  • Rohan Budhiraja mentioned in merge request !258 (merged)

    mentioned in merge request !258 (merged)

  • Rohan Budhiraja added 29 commits

    added 29 commits

    • c3d7a9ac...22fd74ac - 20 commits from branch loco-3d:devel
    • 5683d20e - [CMake] sync submodule
    • 11b034b1 - [CMake] fix submodule detection
    • f21b847d - [cost][contact-force] add contact-force costs
    • 408e2c0f - [bindings][cost][contact force] add contact force
    • 6d151d76 - [cost][cmake][contact force] install contact force
    • 4d18b0b5 - [format] clang format code
    • 49b9b54d - [cost][contact force] add assert to check that the size of activation matches contact
    • 4d78b8e0 - [contact] save the force applied at the frame as an vectorxd. needed for costmodelcontactforce
    • b979309d - [cost][contact force] save reference as eigen vector

    Compare with previous version

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