GitLab

after https://github.com/stack-of-tasks/sot-core/pull/148

ref. https://github.com/stack-of-tasks/dynamic-graph/pull/58

Return the torque_ctrl command except on the joint controlled by the ddp (here right elbow -> n°25)

Add the limits in torque, position and velocity to cost function.

Entity using the ddp_solver associated with the pyrene actuator (see ddp-actuator-solver/example/pyrene_actuator)

Add outputs (q_des, v_des, u) and enum on output control modes to use the entity in torque or velocity.
q_des and v_des are the integration of the desired acceleration computed by TSID
u is the result of the desired torque computed + PD on posture des.
Works with talos-torque-control package for sinusoid traj on the CoM in velocity control.

filter_differentiator have been moved to sot-core 

Add outputs (q_des, v_des, u) and enum on output control modes to use the entity in torque or velocity.
q_des and v_des are the integration of the desired acceleration computed by TSID
u is the result of the desired torque computed + PD on posture des.
Works with talos-torque-control package for sinusoid traj on the CoM in velocity control.

* [Filter Utils] Change include of FilterDifferentiator now in sot-core

filter_differentiator have been moved to sot-core

* [Filter Utils] Change include of FilterDifferentiator now in sot-core

filter_differentiator have been moved to sot-core

* Create simple Inverse Dyn entity with posture and com TSID tasks

* [SimpleInvDyn] Add waist and contact6D tasks to CoM and Posture ones

Add outputs (q_des, v_des, u) and enum on output control modes to use the entity in torque or velocity.
q_des and v_des are the integration of the desired acceleration computed by TSID
u is the result of the desired torque computed + PD on posture des.
Works with talos-torque-control package for sinusoid traj on the CoM in velocity control.

* [SimpleInvDyn] Remove update q,v from robot in torque control

They are used in the u signal for a PD+ control (cannot reuse them in the loop)

* [SimpleInvDyn] Cleaning scripts and add comments

* [Documentation] Add Doxygen documentation

* [Documentation] Correction of the talos-torque-control repository url