Add Human inverse kinematic class #15
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Hi @davidegorbani if the pr is ready for review I can take it a look |
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Yes, I have also started adding the task relative to the SO(3) task. |
ci_env.yml
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| name: biomechanical-analysis-framework | ||
| channels: | ||
| - conda-forge | ||
| - robotology |
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It seems all the packages you use are from the conda-forge channel, we can probably remove this.
ci_env.yml
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| - robotology | ||
| dependencies: | ||
| - cmake | ||
| - clangxx>=14.0.0 |
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We tipically use the compilers meta package to get the compiler, do you have any need specifically for clang?
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No, it was already there so I left it.
.github/workflows/ci.yml
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| # Print the environment variables to simplify development and debugging | ||
| # Use conda for main dependencies | ||
| - uses: conda-incubator/setup-miniconda@v2 | ||
| if: matrix.os == 'ubuntu-latest' | ||
| with: | ||
| miniforge-variant: Mambaforge | ||
| miniforge-version: latest |
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I think we can use setup-micromamba for both, if we need to install anything else I think we can do that via micromamba install instead of mamba install .
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For me we can proceed merging. I don't know if also @GiulioRomualdi is planning to review the PR, or if @traversaro has further comments. Otherwise we can proceed merging.
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Ok, I will wait before merging. |
| public: | ||
| HumanIK(){}; // constructor | ||
| ~HumanIK(){}; // destructor |
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I would document the code using doxygen format. Similar to the one in bipedal locomotion framework. This will can be used to automatically generate the documentation
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Ok, I will do it!
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I was thinking something more structured. Like https://github.com/ami-iit/bipedal-locomotion-framework/blob/master/src/IK/include/BipedalLocomotion/IK/QPFixedBaseInverseKinematics.h
src/IK/src/InverseKinematics.cpp
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| double HumanIK::getDt() const | ||
| { | ||
| return m_dtIntegration.count(); | ||
| } |
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This will be returned in nanoseconds. Is this wanted?
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No, probably it is better to return the dt in seconds.
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I changed it and now it returns the value in seconds.
src/IK/src/InverseKinematics.cpp
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| bool HumanIK::getJointVelocities(Eigen::Ref<Eigen::VectorXd> jointVelocities) const | ||
| { | ||
| jointVelocities = m_jointVelocities; | ||
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| return true; | ||
| } |
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You should check if the size of jointVelocities is correct
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
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Thank you @davidegorbani! Feel free to merge it :) |
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Thank you! Merging! |
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Super! @ami-iit/ifeel @ami-iit/ergocub |
This PR aims to create a first skeleton of the class
HumanIKthat has to compute the inverse kinematics of the human.