Implement plugin system

ARC-OPT / wbc

C++ library for optimization-based control of redundant robots

https://arc-opt.github.io/Documentation/

BSD 3-Clause "New" or "Revised" License

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Implement plugin system #9

Closed dmronga closed 2 years ago

dmronga commented 2 years ago

Con:

Makes the code more complicated. Pro:
Dependencies are not explicit for e.g., orogen-wbc. If we implement more and more solvers/robot models, we don' t want to depend on each of them. Or we will have to maintain a lot of cmake options

dmronga commented 2 years ago

This will also solve #5

dmronga commented 2 years ago

Robot models are implemented as plugins now. Making the solver a plugin is more complicated. Most solvers have many specific options, which cannot be exposed as Rock properties, when we go for a plugin system