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Allow use of vectors for task gains #654

Merged
merged 2 commits into from
Apr 18, 2023
Merged

Allow use of vectors for task gains #654

merged 2 commits into from
Apr 18, 2023

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RiccardoGrieco
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As per title, this PR allows for the use of vector for kp and kd gains in IK and TSID tasks.

Follows #653.

@RiccardoGrieco
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cc @CarlottaSartore

S-Dafarra
S-Dafarra approved these changes Apr 18, 2023
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@S-Dafarra S-Dafarra left a comment

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Looks good to me! I would leave anyhow the final word to @GiulioRomualdi

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Btw, one test failed on macOS with the following message

51/53 Test #51: QPInverseKinematicsUnitTests ..........................***Failed    0.25 sec
[2023-04-17 15:13:16.979] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link19] Unable to find the mask parameter. The default value is used: true true true.
[2023-04-17 15:13:16.980] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link19] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
[2023-04-17 15:13:16.980] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link19] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
[2023-04-17 15:13:16.980] [thread: 102396] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
[2023-04-17 15:13:16.983] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link34] Unable to find the mask parameter. The default value is used: true true true.
[2023-04-17 15:13:16.983] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link34] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
[2023-04-17 15:13:16.983] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link34] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
[2023-04-17 15:13:16.983] [thread: 102396] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.
[2023-04-17 15:13:16.988] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link29] Unable to find the mask parameter. The default value is used: true true true.
[2023-04-17 15:13:16.988] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link29] Unable to find the use_orientation_exogenous_feedback parameter. The default value is used: false.
[2023-04-17 15:13:16.988] [thread: 102396] [blf] [info] [SE3Task::initialize]  [IK-SE3Task - Frame name:  link29] Unable to find the use_position_exogenous_feedback parameter. The default value is used: false.
[2023-04-17 15:13:16.988] [thread: 102396] [blf] [info] [CoMTask::initialize] [CoMTask] Unable to find the mask parameter. The default value is used: true true true.

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
QPInverseKinematicsUnitTests is a Catch v2.13.4 host application.
Run with -? for options

-------------------------------------------------------------------------------
QP-IK [With strict limits]
-------------------------------------------------------------------------------
/Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/IK/tests/QPInverseKinematicsTest.cpp:370
...............................................................................

/Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/IK/tests/QPInverseKinematicsTest.cpp:453: FAILED:
  REQUIRE( std::abs(jointVelocity(0)) < tolerance )
with expansion:
  0.0103046824 < 0.01

@GiulioRomualdi
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It's happening time to time

RiccardoGrieco and others added 2 commits April 18, 2023 22:21
@RiccardoGrieco @GiulioRomualdi
Add the possibility to use a vector as gain in:
3b37d67 
- IK::SO3Task, IK::SE3Task, IK::R3Task
- TSID::SO3Task, TSID::SE3Task
@GiulioRomualdi
Update the CHANGELOG
5bf9199
@GiulioRomualdi GiulioRomualdi merged commit 1668701 into ami-iit:master Apr 18, 2023
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@S-Dafarra S-Dafarra S-Dafarra approved these changes

@GiulioRomualdi GiulioRomualdi Awaiting requested review from GiulioRomualdi GiulioRomualdi is a code owner

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@RiccardoGrieco RiccardoGrieco

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@RiccardoGrieco @S-Dafarra @GiulioRomualdi