Commit 725abc7d authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Add information in introduction.

Fix tutorial.
parent 2b6f0c1a
......@@ -102,7 +102,11 @@ $$
s.t. & - \lambda (\hat{\mathbf{s}} - \mathbf{s}^*) = \mathbf{J}(\mathbf{q})\mathbf{\dot{q}} \\
\end{array}
$$
The library implementing the task formulation is <a href="http://github.com/stack-of-tasks/sot-core">sot-core</a>.
<ul>
<li>The library implementing the task formulation in velocity domain is <a href="http://github.com/stack-of-tasks/sot-core">sot-core</a> (Hierarchy).</li>
<li>The library implementing the task formulation in acceleration is <a href="http://github.com/stack-of-tasks/sot-dyninv">sot-dyninv</a> (Hierarchy with inequalities).</li>
<li>The library implementing the task formulation in torque is <a href="http://github.com/stack-of-tasks/sot-torque-control">sot-torque-control</a> (Weighted sum).</li>
</ul>
<h3> Formulating instantaneous control as optimization problem</h3>
......
......@@ -38,8 +38,8 @@ ad2.sin1.value = c
ad2.sin2.value = d
# plug all the signals
plug(ad1.sout, mult.sin1)
plug(ad2.sout, mult.sin2)
plug(ad1.sout, mult.sin0)
plug(ad2.sout, mult.sin1)
```
In order to obtain the result of the multiplication, let's do:
......@@ -94,7 +94,7 @@ A more complete list can be found in the cheat sheet (Documentation > Cheat shee
- input double
- double
- output double
sout = coeff1 * sin1 + coeff2 * sin2
sout = coeff1 * sin0 + coeff2 * sin1
Coefficients are set by commands, default value is 1.
List of commands:
......@@ -131,8 +131,8 @@ A more complete list can be found in the cheat sheet (Documentation > Cheat shee
```python
ad1.displaySignals()
--- <ad1> signal list:
|-- <Sig:Add_of_double(ad1)::input(double)::sin0> (Type Cst) AUTOPLUGGED
|-- <Sig:Add_of_double(ad1)::input(double)::sin1> (Type Cst) AUTOPLUGGED
|-- <Sig:Add_of_double(ad1)::input(double)::sin2> (Type Cst) AUTOPLUGGED
`-- <Sig:Add_of_double(ad1)::output(double)::sout> (Type Fun)
```
......@@ -141,7 +141,7 @@ A more complete list can be found in the cheat sheet (Documentation > Cheat shee
- `entity.signal.value`: Returns the current value of a signal
```python
ad1.sin1.value
ad1.sin0.value
0.0
```
......
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