improvements in velocity controller #104
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gabrielenava
requested changes
Dec 16, 2020
| J_c_dot_nu(7:end) = J_dot_nu_R; | ||
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done in 6c3d28f
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| s_dot_star_k_1 = s_dot_des_k_1 - Gains.KP_Postural*(s_k-s_des_k); | ||
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also here missing newline
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done in 6c3d28f
| s_dot_des_k = zeros(size(s_des_k)); | ||
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done in 6c3d28f
| @@ -0,0 +1,44 @@ | |||
| function centroidalDyn = centroidalConversion(DYNAMICS,FORKINEMATICS,STATE) | |||
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these centroidal -related functions could be moved in the wbc library folder. But for now it is ok to have them in the sources of the velocity controller, being the only user of the transformation.
gabrielenava
approved these changes
Dec 16, 2020
gabrielenava
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Mar 26, 2021
* added a new momentum-velocity controller * cleanup of the WCB simulink library * improvements in velocity controller (#104) * improvements in velocity controller * added new line at the end of the files * Velocity Controller-Relax Momentum Constraint (#107) * fixes centroidalTransformaion and ComputeReferencesController * fixed some typos, removed hardcoded variables, clean up * fixed indeces for velocity limits * minor fixes Co-authored-by: Giuseppe <gl.giuseppelerario@gmail.com> Co-authored-by: CarlottaSartore <56030908+CarlottaSartore@users.noreply.github.com>
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This PR implements various improvements in the velocity control and the related update in the documentation.