To run the code:
bazel run examples/Cassie/kinematic_centroidal_planner:cassie_kcmpc_trajopt
to check the lifting and reduction function run:
bazel run examples/Cassie/kinematic_centroidal_planner/simple_models:cassie_slip_lifting_test
The main changes are:
the creation of the relevant slip constraints and functions in examples/Cassie/kinematic_centroidal_planner/simple_models/
Modify systems/trajectory_optimization/kinematic_centroidal_planner/kinematic_centroidal_solver.cc to take slip specific functions in examples/Cassie/kinematic_centroidal_planner/cassie_kinematic_centroidal_solver.cc
Tweak trajectory parameters to include the complexity schedule and slip parameters
Main todo before merging in would be:
[ ] Create knot point class
[ ] Remove any mention of SLIP from kinematic_centroidal_solver
[ ] Make sure I didn't break anything related to the mpc
To run the code:
bazel run examples/Cassie/kinematic_centroidal_planner:cassie_kcmpc_trajoptto check the lifting and reduction function run:
bazel run examples/Cassie/kinematic_centroidal_planner/simple_models:cassie_slip_lifting_testThe main changes are:
examples/Cassie/kinematic_centroidal_planner/simple_models/systems/trajectory_optimization/kinematic_centroidal_planner/kinematic_centroidal_solver.ccto take slip specific functions inexamples/Cassie/kinematic_centroidal_planner/cassie_kinematic_centroidal_solver.ccMain todo before merging in would be:
kinematic_centroidal_solverThis change is