Allow the unicycle to move sideways

[S-Dafarra]

This PR adds a new controller for the Unicycle, permitting side steps.

[GiulioRomualdi]

One minor comment

[GiulioRomualdi]

If I correctly understand this allows the robot to move in the y direction (i.e. it brakes the holonomic constraint) if this is the case I would avoid calling it UnicycleDirectController

[S-Dafarra]

Nope, this is one unicycle controller that allows the user to set the unicycle velocities directly. The other controller is the PersonFollowing controller, where the user sets a desired point to follow.

In order to move sideways I have extended the dynamics of the unicycle in

unicycle-footstep-planner/src/ControlledUnicycle.cpp

Lines 55 to 56 in 3574455

	stateDynamics(0) = c_theta * m_controllerOutput(0) - s_theta * m_controllerOutput(2);
	stateDynamics(1) = s_theta * m_controllerOutput(0) + c_theta * m_controllerOutput(2);

, assuming to have an additional control input. The PersonFollowing controller simply sets this control input always to zero.

[GiulioRomualdi]

Ok! Perfect feel free to merge it. Could you please release the software? It will allow us to release the walking as well.

[S-Dafarra]

Ok! Perfect feel free to merge it. Could you please release the software? It will allow us to release the walking as well.

Sure!

[S-Dafarra]

Ok! Perfect feel free to merge it. Could you please release the software? It will allow us to release the walking as well.

See https://github.com/robotology/unicycle-footstep-planner/releases/tag/v0.5.0