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[WIP] Attach MPC with MANN#679

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GiulioRomualdi wants to merge 23 commits intomasterami-iit/bipedal-locomotion-framework:masterfrom mann_mpcami-iit/bipedal-locomotion-framework:mann_mpcCopy head branch name to clipboard

+3,985-78

Commits

Commits on Apr 27, 2023

• Implement the CentroidalMPC controller in ReducedModelControllers components

  GiulioRomualdi

  committed
  2789fb6

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• Make the CentroidalMPC compatible with casadi 3.6.0

  GiulioRomualdi

  committed
  c6e1118

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• Add the possibility to set the max number of iteration

  GiulioRomualdi

  committed
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Commits on May 9, 2023

• Implement LieGroupDynamics in ContinuousDynamicalSystem component

  GiulioRomualdi

  committed
  bddabfd

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• Implement toiDynTreePose() in ManifConversions

  GiulioRomualdi

  committed
  92be1f6

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• Implement MANNAutoregressive class in ML component

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  GiulioRomualdi

  and

  paolo-viceconte

  committed
  a4fb978

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• Implement python bindings for ML component

  GiulioRomualdi

  committed
  6c8a10e

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• Update the CHANGELOG

  GiulioRomualdi

  committed
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Commits on May 10, 2023

• Expone autoregressive state in MANNAutoregressive

  GiulioRomualdi

  committed
  f856c64

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• Implement MANNTrajectoryGenerator class in ML component

  GiulioRomualdi

  committed
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• Implement python bindings for MANNTrajectoryGenerator

  GiulioRomualdi

  committed
  aca14a9

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• Fix autoregressive bindings

  GiulioRomualdi

  committed
  373c0b8

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• Remove trajectory_length from ML

  GiulioRomualdi

  committed
  3034bd6

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• Merge branch 'centroidal_mpc_controller' into mann_mpc

  GiulioRomualdi

  committed
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Commits on May 14, 2023

• [WIP] Add the possibiliy to slow down adherent and set the angular momentum desired in the MPC

  GiulioRomualdi

  committed
  3922a10

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Commits on May 24, 2023

• bugfix mann trajectory generator

  GiulioRomualdi

  committed
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Commits on May 26, 2023

• Avoid to switch support corner once the support foot is decided

  GiulioRomualdi

  committed
  c77073b

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• Add timer to the state of the SchmittTrigger

  GiulioRomualdi

  committed
  175c496

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• Use schmitt trigger in MANNAutoregressive

  GiulioRomualdi

  committed
  79875df

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• Use schmitt trigger in MANNTrajectoryGenerator

  GiulioRomualdi

  committed
  1e77daf

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• Expone Schmitt trigger status in order to reset it

  GiulioRomualdi

  committed
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Commits on May 27, 2023

• Restructure SchmittTrigger

  GiulioRomualdi

  committed
  6d8b8c4

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• Fix MANNAutoregressive with the latest SchmittTrigger

  GiulioRomualdi

  committed
  2879f79

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