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Make the weights editable in the IK/TSID #474

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GiulioRomualdi opened this issue Dec 2, 2021 · 0 comments · Fixed by #475
Closed

Make the weights editable in the IK/TSID #474

GiulioRomualdi opened this issue Dec 2, 2021 · 0 comments · Fixed by #475

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@GiulioRomualdi
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GiulioRomualdi commented Dec 2, 2021

The weights are now loaded by the configuration file. The only thing missing to using blf-Ik in the walking module is to add the possibility to change the cost function wights at runtime.

Here is what I propose:

  1. keep the weight in the configuration file. This is the default weight that will be loaded by IK/TSID if the user does not specify a new one
  2. Create a method setWeight(std::string taskName, Vector weight) in IK/TSID this will set the new weight
  3. The user has to generate the trajectory of the weight. He can use a minJerkTrajectory or something else. We can implement this class in blf but we have to decide where to put it (math component?) and give a name to the class

cc @traversaro @S-Dafarra @isorrentino

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