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Simple-Robotics / aligator

A versatile and efficient framework for constrained trajectory optimization
https://simple-robotics.github.io/aligator/
BSD 2-Clause "Simplified" License
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Add contact force and wrench cone costs for multibodies #151

Closed edantec closed 4 months ago

edantec commented 4 months ago

This PR adds force and wrench cone costs for the multibody case. For now the costs recompute the constrained dynamics of the contact although it is already done in multibodyConstrainedDynamics. In the future the common data update will fix this redundant computation.

ManifoldFR commented 4 months ago

Thanks for this @edantec

Unfortunately many of these changes can't be checked by the CI because they requires Pinocchio 3. For now we can just avoid breaking the build by making sure we don't try to compile them without Pinocchio 3.

You need to gate these features behind the following preprocessor check:

#ifdef ALIGATOR_PINOCCHIO_V3
...
#endif

or a similar if()/endif() in CMake.

ManifoldFR commented 4 months ago

@edantec I rebased your branch on devel.

ManifoldFR commented 4 months ago

You can now rebase on devel! :)