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Issue to track the tasks needed to investigate compliant foot planting under uncertainty on surface orientation.
- [ ] Cartesian solver for the 2 legs to move from double stable phase to single foot p…
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This is a tentative ordered list of tasks. Nevermind detailed explanations on each..once done, yarpWholeBodySensors will be able to parse the MTB sensors. NOTE : In this version, only MTB Acceleromete…
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## Brief Description
This issue's main purpose is to keep track of the design decisions and specifications for a new module, ~~so far called `wholeBodyState` (are we sure?)~~ called `wholeBodyEstimat…
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If you compile iDynTree with `IDYNTREE_COMPILE_TESTS`, you get the following warnings:
```
/home/traversaro/src/codyco-superbuild/libraries/iDynTree/src/icub-kdl/tests/iDynTreeJacobianTest.cpp:142:1…
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I compile a simple c file using mex in matlab 2016b. I got error message:
```
`Building with 'Xcode with Clang'.
/usr/bin/xcrun -sdk macosx10.12 clang -c -DMX_COMPAT_32 -DMATLAB_MEX_FILE -I"/Appl…
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mexWholeBodyModel is used by few users and is now a huge repo. We should not install it when a users select `CODYCO_USES_MATLAB`.
cc @francesco-romano @DanielePucci @iron76 @Ganimed @gabrielenava…
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The wholeBodySensors interface should be configured to read the sensors present in the URDF file. Once we have a working URDF --> iDynTree::SensorsList parser, this boils down to iterate on elements o…
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Probably due to an update in the Octave version installed by homebrew.
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Method `icubWholeBodyActuators::setControlMode` called for all joints.
The controlMode (`currentCtrlModes`) map update can be skipped: see the following code:
```
switch(controlMode)
{
ca…
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Since iWholeBodyStates should define the interface for a generic estimator it should provide users with the possibility to set priors on the estimated quantities.
After discussing with @iron76 and @t…