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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:
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
Create a method setWeight(std::string taskName, Vector weight) in IK/TSID this will set the new weight
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
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:
setWeight(std::string taskName, Vector weight)
in IK/TSID this will set the new weightmath
component?) and give a name to the classcc @traversaro @S-Dafarra @isorrentino
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