Config debug features - Githubissues

abr / abr_control

Robotic arm control in Python

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Config debug features #43

Closed p3jawors closed 5 years ago

p3jawors commented 5 years ago

Pulled the desired features from config_debug_rebase_util_removal

split up floating controller into floating_task and floating_joint
added bell shaped dmp path planner
added options to bell shaped and second order path planners to generate a path function of time
added examples for all of the above, tested and work
need to look into either configs or floating controller, as the sim arms move when under floating control
travis ci checks pass

studywolf commented 5 years ago

did some cleanup, there are a bunch of missing comments etc that still need to be filled in

p3jawors commented 5 years ago

Ready for review, already rebased to master

Added missing docstrings
reformatting of path planners to use more consistent naming between each other and controllers
path planners always return pos and vel, and as separate parameters (no more stacking)
have step and time based examples for both second order path planners
travis ci checks passing

studywolf commented 5 years ago

this LGTM, but i'm not happy with the two different examples each for the second_order planners. not sure a better way to do it though, so let's just add a reminder to the backlog to address it