Implement FeasibleContactWrenchTask for TSID component #369
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| * Enable the task. I.e. a contact wrench different from zero is allowed. | ||
| */ | ||
| void enable(); | ||
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| /** | ||
| * Disable the task. I.e. the contact wrench is forced to be equal to zero. | ||
| */ | ||
| void disable(); |
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There is some potential confusion on whether it is the task to be disabled (hence the wrench is not constrained), or if the wrench cannot be used to control the robot. A possibility could be to allow setting directly the maximum normal component. Another possibility could be to have a method like setContactState with an enum. Otherwise also a different naming could do the trick, although I did not find any good alternatives myself.
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I like setContactState! the enum could be Active Inactive, what do you think?
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That would be nice. On the other hand, we should try to be coherent and use that enum also inside the class. Right now it is a boolean https://github.com/dic-iit/bipedal-locomotion-framework/blob/d81b390683127a451669b0e09ff06da199f9490a/src/Contacts/include/BipedalLocomotion/Contacts/Contact.h#L102
and only in the EstimatedContact.
For the time being, we could simply add the boolean and start using it in separate PRs.
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In 9b8662b I implemented the function we discussed.
Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>
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@S-Dafarra let mIf I can merge the PR 😃 |
| * Disable the task. I.e. the contact wrench is forced to be equal to zero. | ||
| */ | ||
| void disable(); | ||
| void isContactActive(bool isActive); |
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I realized later that isContactActive is more in the form of a question, so I would expect a return value. Maybe setContactActive would suggest more that you are changing an internal state. Does it make sense?
GiulioRomualdi
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Most of the jobs failed, did you check the output? |
This PR implements a task for the TSID component ensuring a feasible contract wrench