Implent JointRegularizationTask in TSID #170
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GiulioRomualdi
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S-Dafarra
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Jan 22, 2021
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| bool setReferenceTrajectory(Eigen::Ref<const Eigen::VectorXd> jointPosition); | ||
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| /** | ||
| * Set the desired reference trajectory. | ||
| * @param jointPosition vector containing the desired joint position in radians. | ||
| * @param jointVelocity vector containing the desired joint velocity in radians per second. | ||
| * @note The desired acceleration is implicitly set to zero. | ||
| * @return True in case of success, false otherwise. | ||
| */ | ||
| bool setReferenceTrajectory(Eigen::Ref<const Eigen::VectorXd> jointPosition, | ||
| Eigen::Ref<const Eigen::VectorXd> jointVelocity); | ||
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| /** | ||
| * Set the desired reference trajectory. | ||
| * @param jointPosition vector containing the desired joint position in radians. | ||
| * @param jointVelocity vector containing the desired joint velocity in radians per second. | ||
| * @param jointAcceleration vector containing the desired joint velocity in radians per second square. | ||
| * @return True in case of success, false otherwise. | ||
| */ | ||
| bool setReferenceTrajectory(Eigen::Ref<const Eigen::VectorXd> jointPosition, | ||
| Eigen::Ref<const Eigen::VectorXd> jointVelocity, | ||
| Eigen::Ref<const Eigen::VectorXd> jointAcceleration); |
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You are not setting trajectories, but rather desired set points.
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changed here: 40b8882
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Just to mess up with you a little more 😁 setSetpointssounds funny, setReferencePoint? 😁
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| constexpr std::string_view descriptionPrefix = "JointRegularizationTask Optimal Control " | ||
| "Element"; |
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I am not sure this adds any detail in the error messages. Also, it is no more an Optimal Control Element.
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Remove here: 2734000
- Remove useless printed messages from JointsTrackingTask
…ngTask::setSetpoint()
S-Dafarra
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Jan 22, 2021
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This PR:
Task::subA()methodJointRegularizationTaskin TSID library