Integrating double diagonalization for damping estimation#6

Merged

Hydran00 merged 26 commits intomainfrom

Jan 30, 2025

Commits on Jan 7, 2025

Commits on Jan 8, 2025

plane constraints fixed and started working on conic cbf
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Commits on Jan 9, 2025

Refactor conic CBF implementation: remove unused skew2 function and update e_i calculation using quaternion rotation
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Commits on Jan 10, 2025

ccbf is now working
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Commits on Jan 13, 2025

Update CMake configuration and refactor conic CBF implementation for clarity and performance
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Commits on Jan 23, 2025

started plane hocbf
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Commits on Jan 24, 2025

Commits on Jan 25, 2025

Add visualization support to HOCBF and CBF Cartesian Impedance Controllers
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Commits on Jan 26, 2025

Refactor HOCBF controller: adjust gain value and clean up logging
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Commits on Jan 27, 2025

Commits on Jan 28, 2025

minor
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Merge branch 'devel-cbf' of github.com:lucabeber/effort_controller into devel-cbf
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moved headers in effort_base
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fixed hocbf controller
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Commits on Jan 29, 2025

merge
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typo
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first
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added computation of djdq
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added computation of djdq
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Commits on Jan 30, 2025

addded correction damping
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removed useless vars and added debug_msg package
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refactor: clean up torque computation and remove unused variables
Hydran00
committed