Implement SO3 task in TSID #281
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GiulioRomualdi
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S-Dafarra
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| public: | ||
| /** | ||
| * Initialize the planner. |
| * @param variablesHandler reference to a variables handler. | ||
| * @note The handler must contain a variable named as the parameter | ||
| * `robot_acceleration_variable_name` stored in the parameter handler. The variable represents | ||
| * the generalized acceleration of the robot. Where the generalized robot acceleration is a |
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| * the generalized acceleration of the robot. Where the generalized robot acceleration is a | |
| * the generalized acceleration of the robot, where the generalized robot acceleration is a |
| bool update() override; | ||
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| /** | ||
| * Set the desired reference trajectory. |
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| * Set the desired reference trajectory. | |
| * Set the desired reference point. |
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As written in the title the PR implements the SO3Task in tsid. I also wrote a simple test to spot possible bugs.