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Modify the unicycle planner #844

Merged
merged 72 commits into from
Jun 19, 2024
Merged

Modify the unicycle planner #844

merged 72 commits into from
Jun 19, 2024

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LoreMoretti
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@LoreMoretti LoreMoretti commented May 6, 2024 •
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This PR modifies the current implementation of the blf unicycle planner which is now named Unicycle Trajectory Planner.

This planner is in charge of generating the:

  1. footsteps
  2. DCM trajectory
  3. CoM trajectory

over the trajectory time horizon, which is a configuration parameter of the planner itself.

This PR should be merged before #845.

LoreMoretti and others added 30 commits May 2, 2024 17:27
@LoreMoretti
remove planner and use unicycle generator
7987552
@LoreMoretti
use right and left foot shared pointers of the unicycle generator
8ef6d87
@LoreMoretti
implement unicycle planner initialization
420bed4
@LoreMoretti
draft some code
37704a1
@LoreMoretti
add computation of contact phase list
c1a89a8
@LoreMoretti
disable the python bindings for unicycle planner
5a818fc
@LoreMoretti
move unicycle planner inputs to m_pimpl
630ae79
@LoreMoretti
add computation of first trajectories
633b1fb
@LoreMoretti
fix generation of contact list
aa3149e
@LoreMoretti
move some parmeters to m_pimpl
26a0a2b
@LoreMoretti
clean include statements
bba0962
@LoreMoretti
add merge points to the output of the advanceable
1e785d9
@LoreMoretti
first skeleton of unicycle trajectory generator
6e889c4
@LoreMoretti
Implement the logic of the unicycle trajectory.
3847eef 
The code does not compile yet.
@LoreMoretti
add feet contact status outputs to unicycle planner
aaf5723
@LoreMoretti
add steps infomation to the output of the unicycle planner
081a269
@LoreMoretti
add default parameter values
acefe85
@LoreMoretti
add computation of contact phase lists
20059d6
@LoreMoretti
add default parameters
1fca827
@LoreMoretti
remove old code
20826ee
@LoreMoretti
do not use unique pointer for data member unycyclePlanner
78de2fe
@LoreMoretti
add unicycle trajectory generator to Unicycle library
cb7d592
@LoreMoretti
add first trajectories for unicycle generator
e62a2d6
@LoreMoretti
add mutexes and fix segmentation fault
1f5c091
@LoreMoretti
measure async thread spawn time
8db5086
@LoreMoretti
remove debug prints and debug code
b5d51da
@LoreMoretti
add smoke test for unicycle planner
232200e
@LoreMoretti
add smoke test for unicycle trajectory generator
c39eb4b
@LoreMoretti
fix bug: missing negation of a boolean
e99be62
@LoreMoretti
improve computation of contact phase lists
751559e
@LoreMoretti LoreMoretti marked this pull request as ready for review May 7, 2024 12:15
GiulioRomualdi
GiulioRomualdi requested changes May 7, 2024
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@GiulioRomualdi GiulioRomualdi left a comment

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First of all well done 🎉. I add you some comments but I think we may also discuss F2F 😃

@LoreMoretti
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Hi @GiulioRomualdi could we merge this PR?

GiulioRomualdi
GiulioRomualdi reviewed May 28, 2024
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Just small comments. I will check better later in the day

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CI failure not related to the PR

@GiulioRomualdi GiulioRomualdi merged commit f97977b into ami-iit:master Jun 19, 2024
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@traversaro traversaro traversaro left review comments

@S-Dafarra S-Dafarra S-Dafarra left review comments

@GiulioRomualdi GiulioRomualdi GiulioRomualdi approved these changes

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@LoreMoretti LoreMoretti

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4 participants
@LoreMoretti @traversaro @S-Dafarra @GiulioRomualdi