Implement RobotDynamicsEstimatorDevice - PR6
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isorrentino
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GiulioRomualdi and
S-Dafarra
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I rebased on master. The PR is ready for review @GiulioRomualdi |
GiulioRomualdi
requested changes
Nov 9, 2023
| BipedalLocomotion::ManifConversions | ||
| BipedalLocomotion::VectorsCollection | ||
| CONFIGURE_PACKAGE_NAME robot_dynamics_estimator_device) | ||
| endif() |
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| endif() | |
| endif() | |
| # Install each model | ||
| foreach (dir ${subdirs}) | ||
| yarp_install(DIRECTORY robots/${dir} DESTINATION ${YARP_ROBOTS_INSTALL_DIR}) | ||
| endforeach () |
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| endforeach () | |
| endforeach () | |
| bool openRemapperVirtualSensors(); | ||
| }; | ||
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| #endif // BIPEDAL_LOCOMOTION_FRAMEWORK_ROBOT_DYNAMICS_ESTIMATOR_DEVICE_H |
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| #endif // BIPEDAL_LOCOMOTION_FRAMEWORK_ROBOT_DYNAMICS_ESTIMATOR_DEVICE_H | |
| #endif // BIPEDAL_LOCOMOTION_FRAMEWORK_ROBOT_DYNAMICS_ESTIMATOR_DEVICE_H | |
| @@ -0,0 +1,126 @@ | |||
| /** | |||
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Can you document the class and the methods?
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| RobotDynamicsEstimatorDevice::~RobotDynamicsEstimatorDevice() | ||
| { | ||
| } |
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| RobotDynamicsEstimatorDevice::~RobotDynamicsEstimatorDevice() | |
| { | |
| } | |
| RobotDynamicsEstimatorDevice::~RobotDynamicsEstimatorDevice() = default; |
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| { | ||
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| std::lock_guard<std::mutex> lockOutput(m_estimatorOutput.mutex); |
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I think you should indent this
| } | ||
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| return true; | ||
| } |
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Suggestions applied and class documented. |
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I'm going to add the README. I'll let you know as soon as it is pushed. |
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README added (actually yesterday). @GiulioRomualdi |
GiulioRomualdi
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Nov 10, 2023
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I just rebased on master |
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This is the last PR for the
RobotDynamicsEstimator. It implements the device that will be running on the robot and uses the fullRDElibrary. I tested the device in simulation by commenting out the readings of the motor currents (not available in Gazebo) and by setting them manually.