An error occurred while retrieving approval data for this merge request.
Topic/contact force
Solves #272 (closed)
Edited by Rohan Budhiraja
Merge request reports
Activity
Filter activity
- Resolved by Rohan Budhiraja
Earlier, in the python version, I was doing something like this:
for d in problem.runningDatas: # Because we also have the impact models without differntial. if hasattr(d, "differential"): for (patchname, contactData) in d.differential.contact.contacts.iteritems(): if "forces_" + patchname in d.differential.costs.costs: d.differential.costs["forces_" + patchname].contact = contactData
I could try to do something similar in the shooting problem class constructor. After problem.createData() is called, we search for integrated action datas, and then in these action datas, we search if a CostModelContactForce class exists. I don't really see what other solution I could use.
added 5 commits
-
ab95b041...29495486 - 2 commits from branch
loco-3d:devel
- ff7de204 - [cost][contact-force] add contact-force costs
- 806f674a - [bindings][cost][contact force] add contact force
- 3e168443 - [cost][cmake][contact force] install contact force
Toggle commit list-
ab95b041...29495486 - 2 commits from branch
- Resolved by Rohan Budhiraja
- Resolved by Carlos Mastalli
- Resolved by Carlos Mastalli
- Resolved by Carlos Mastalli
- Resolved by Rohan Budhiraja
- Resolved by Carlos Mastalli
- Resolved by Carlos Mastalli
- Resolved by Rohan Budhiraja
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
- to investigate what happens in your CI
- to format the code as explained in the wiki
mentioned in issue #278 (closed)
added 1 commit
- a08d1a44 - [cost][contact force] add assert to check that the size of activation matches contact
mentioned in merge request !258 (merged)
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
Toggle commit list-
c3d7a9ac...22fd74ac - 20 commits from branch
Please register or sign in to reply