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DAIRLab / dairlib

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Express redundant constraints in local frame #267

Closed yminchen closed 2 years ago

yminchen commented 2 years ago

Built upon #266.

I templated OscViewFrame so that I could use it in WorldPointEvaluator

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Brian-Acosta commented 2 years ago

Does it still make sense to call it a WorldPointEvaluator if you can set a ViewFrame which is not the world frame? Would it be better to call it a ContactPointEvaluator?

yminchen commented 2 years ago

I think the class name is appropriate, since it gives us a point position in the world frame. ViewFrame is only used to rotate this vector.

This class is also quite general, so naming it as ContactPointEvaluator might be a bit misleading.