GitLab

This prevent to install plugin and libraries when in python only mode.

NoelieRamuzat authored May 13, 2019 and olivier stasse committed May 14, 2019

The ddp-actuator-solver depends on the qpOASES library which was not linked to the plugin in the CMakeLists. 

Provides a DDP solver to control one actuator.

[current-ctrl] Create new entity CurrentController (the current control was previously implemented inside the ControlManager)

Takes the numerator and denominator of the filter and applies the filter to the signal.
Also it does finite differencing on the output to create derivative of the signal

[imu-offset-compensation] Add new entity to compensate for IMU offset. Modify main_v3 function to use base-estimator (rather than free-flyer-locator).

Conflicts:
	CMakeLists.txt
	python/dynamic_graph/sot/torque_control/create_entities_utils.py

Conflicts:
	CMakeLists.txt

Conflicts:
	src/madgwickahrs.cpp

Add entity to estimate the joint torque sensor offsets.

* [torque-offset-estimator] remove hardcoded joint values

* [MINOR] *check gyro values only when calibrating.
	*change unittest check message
	* add plugin to src/CMakeLists

* [MINOR] * change indentation
	* change init to take joint names instead of joint indices
	* remove joint remapping. use the urdf joint order directly

Conflicts:
	CMakeLists.txt
	src/CMakeLists.txt

[device-torque-ctrl] Add device to test torque control: the device can take joint torque as input and (for the moment) it assumes that the robot's feet are attached to the ground.

Conflicts:
	CMakeLists.txt
	src/CMakeLists.txt

Makes RobotUtil shareable across several classes.
Implements the initialization of RobotUtil in controller-manager.
Implements ForceUtil and ForceLimits
Implements display for ForceUtil, ForceLimits, and RobotUtil.
Access to the subsequent commands can only be done after entity initialization.
Changes should be reflected on the other entities.

Make vel-acc-estimator more generic. Rename to NumericalDifference

Deals with stack-of-tasks/sot-torque-control#12

Edit cpp files
Deals with stack-of-tasks/sot-torque-control#12

[balance-ctrl] Add foot task when a contact constraint is removed. Add trajectory generator for SE3 (even though the orientation part is not working yet.