Port contact tunning in default settings

Author: earlaud

include/simple-mpc/inverse-dynamics.hpp

@@ -38,15 +38,15 @@ namespace simple_mpc
         0.01) // Min force for one foot contact (express as a multiple of the robot weight)
 
       // Tasks gains
-      DEFINE_FIELD(double, kp_posture, 10.0)
       DEFINE_FIELD(double, kp_base, 10.0)
+      DEFINE_FIELD(double, kp_posture, 10.0)
       DEFINE_FIELD(double, kp_contact, 10.0)
 
       // Tasks weights
-      DEFINE_FIELD(double, w_posture, 10)
-      DEFINE_FIELD(double, w_base, 10)
-      DEFINE_FIELD(double, w_contact_force, 10)
-      DEFINE_FIELD(double, w_contact_motion, 10)
+      DEFINE_FIELD(double, w_base, 10.)
+      DEFINE_FIELD(double, w_posture, 1.0)
+      DEFINE_FIELD(double, w_contact_force, 1.0)
+      DEFINE_FIELD(double, w_contact_motion, 1e-1)
 
       static Settings Default()
       {

tests/inverse_dynamics.cpp

@@ -61,12 +61,7 @@ BOOST_AUTO_TEST_CASE(KinodynamicsID_contact)
   RobotModelHandler model_handler = getSoloHandler();
   RobotDataHandler data_handler(model_handler);
 
-  KinodynamicsID solver(
-    model_handler, KinodynamicsID::Settings::Default()
-                     .set_w_base(10.0)
-                     .set_w_posture(1.0)
-                     .set_w_contact_force(1.0)
-                     .set_w_contact_motion(1e-1));
+  KinodynamicsID solver(model_handler);
 
   const Eigen::VectorXd q_target = model_handler.getReferenceState().head(model_handler.getModel().nq);
   Eigen::VectorXd f_target = Eigen::VectorXd::Zero(4 * 3);