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Merge devel into master - minor changes and fixes #130
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…ationForJumping Velocity controller preparation for jumping
…mulator/pull/49 - Full dependency PR link: ami-iit/matlab-whole-body-simulator#49
…ulator - Restore the link of the 'holder' blocks in the controller model to the WBToolbox (utilities) library -> after the new holder implementation was (robotology/wb-toolbox#211). - Remove the 'holder' block (not required anymore) from the 'utilityBlocks_lib.slx' library.
…ntrolBalancingWithSimu.mdl' model
- Converted boolean flags to enumerations. - Introduced None/Warning/EmergencyStop choices.
This line should fix robotology/robotology-superbuild#782: Almost all modifications are related to the velocity controller design and the simulink only controller, and seem fine to me. I saw that a library function has been modified: I need to check if this function is used in other controllers such as https://github.com/robotology/whole-body-controllers/tree/master/controllers/floating-base-balancing-torque-control, as the number of inputs changed. cc @traversaro |
As I suspected, the modification of the inputs of checkInputSpikes.m broke all controllers, including the ones that are not in Therefore I will revert this modification, and apply it in a separate branch that before being merged in cc @traversaro @nunoguedelha @CarlottaSartore I proceed reverting the changes in |
…ithSimu, fixed torqueControlBalancingWithSimu and exported to 2019b
With 20ba6af I reverted and tested, now the controllers are working. I double-checked all others modifications and they seem fine to me. With 7bf78dc I created a checkInputSpikesWithSimulator.m function in the library to restore compatibility also with the Simulink-only simulator. I think for now it is ok, I will open an issue to remove the duplicates and converge to a single function. Fixed also other small issues. Now |
Should fix robotology/robotology-superbuild#782
I will remove the WIP after a quick check on the files that are going to change with this PR