GitLab

[c++] Fix bug in computation of position tracking error in TaskSE3Equality when expressing quantities in local frame.

[c++] Fix bug in TaskSE3Equality: when expressing task quantities in world frame there was a mistake in the transform of the position error from local to world frame. Switch from log6 to log3 to avoid coupling between orientation error and translation error, which made task mask not work properly.

Add mask to task-com-equality
Authored-by: Pauline Maurice, Eloise Dalin @dalinel and JB Mouret @jbmouret 

Following https://github.com/stack-of-tasks/pinocchio/pull/1220, some
Data can't be const anymore.

This commit just removed const until compilation succedded again.

Improve TaskSE3Equality: apply mask before returning task acceleration, desired task acceleration, position error and velocity error.

Reduce the constraint size of task-se3-equality based on provided mask, assume fixed mask for contact-point, rotate position error into world-oriented frame

task-point-equality class.

It is a good practice to remove all warnings to:
1/ ease the reading when implementing a new functionnality.
2/ avoid nasty bugs due to the version of the compiler fixing coding
mistakes in a different way.

It avoids unnecessary inclusion and definition

Add com-equality-task. Add unit tests for com-equality and se3 tasks. Add functions to compute pseudo-inverses.

Preliminary version of the library (not working yet). In this version I just implemented the constraints, the constant trajectories, the robot wrapper and the task SE3 equality.