Topic/state integrator #70
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added 9 commits
August 19, 2019 17:53
To be plugged before the device if integration of the control is needed: Only for control in Velocity and Acceleration for now. Check the size of the signal to separate two cases: with and without a control on the freeflyer. The integration of the freeflyer works as an odometry predictive system.
Use device.cpp from sot-core. Add yaml files to create the device for the test. Set the input control of the integrator to -0.5 m/s (velocity) for every joints. Plug the output stateSOUT_ of the integrator to the input control of the device. The control type of the joints on the hardware side (in device) is in position. At the end of the loop the output of the device (motor control) correspond to the limits of the joints in position (as expected, the velocity control push the joints to their limits). In the test a freeflyer is given and integrated as an odometry system.
Replace signal controlTypeSIN by setter : with strings or ints (for addcommand)
…eeflyer Add entry signal for freeflyer (freeFlyerSIN), add a variable to define controlType of the Freeflyer (controlTypeFF_) with setter. Add two output signals for freeflyer one for Euler angles (freeFlyerPositionEulerSOUT_) and the other for quaternions (freeFlyerPositionQuatSOUT_). Change the computation of the Euler angles to assure their range to be [-pi:pi]x[-pi/2:pi/2]x[-pi:pi].
Store the values as SoTControlType instead of using strings. First integration (acceleration) of freeflyer changed to normal integration not rollPitchYaw (mistake). Add command to define the type of one joint.
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I'll try to understand your issue with the flags in the afternoon. |
jmirabel
reviewed
Aug 4, 2020
Co-authored-by: Joseph Mirabel <[email protected]>
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Add a simple integrator to be used with the generic-device entity of sot-core (see PR #136 ).
It uses pinocchio::urdf::buildModelFromXML to retreive the size of the position/velocity/acceleration vectors. Perhaps can be done in another way to remove the dependency to urdfDOM.
Because of this dependency, I had the same issue than the number #1106 in pinocchio and have do add :
in the CMakeLists.txt.
I have issues with the python tests so it is a draft for now.