Restructure the SwingFootPlanner, the Contact component and the CentroidalMPCOutput#721

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GiulioRomualdi wants to merge 29 commits intomasterfrom mpc_adherent_tests_cpp

+1,415-720

Commits on Jul 28, 2023

WIP with this commit the robot in gazebo was able to perform 2 steps but:
GiulioRomualdi
committed

Commits on Aug 3, 2023

Commits on Aug 31, 2023

Prepare the centroidal mpc to use sqpmethods
GiulioRomualdi
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Commits on Sep 1, 2023

Prepare MANNTrajectoryGenerator to scale the x steps
GiulioRomualdi
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Remove print from SwingFootPlanner::evaluateSE3Traj
GiulioRomualdi
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Change the logic used to provided the modified list of the contacts in the CentroidalMPC
GiulioRomualdi
committed

Commits on Sep 6, 2023

Attempt to uniformly scale the footsteps and the CoM trajectory in MANNAutoregressive and
GiulioRomualdi
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Commits on Sep 18, 2023

Commits on Sep 22, 2023

Commits on Nov 20, 2023

Enable the positional scaling in MANNTrajectoryGenerator
GiulioRomualdi
committed