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aica-technology / control-libraries

A collection of library modules to facilitate the creation of full control loop algorithms, including state representation, motion planning, kinematics, dynamics and control.
https://aica-technology.github.io/control-libraries
GNU General Public License v3.0
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Allow setting controller parameters with vector of size 1 #144

Closed domire8 closed 11 months ago

domire8 commented 1 year ago

At the moment, controller parameters like stiffness and damping can be set with either a double, a vector, or a matrix. If it's a vector, the size has to correspond to the length of the diagonal, if it's a matrix, the size has to correspond to the controller matrix too. If you provide a double, the values on the diagonal will be set to that value. It would be nice to do that as well if a vector of size 1 is provided. This would allow modulo controllers to set those parameters more easily.

Would you agree @eeberhard ?

eeberhard commented 1 year ago

Good with me, it would allow more flexibility without a huge amount of additional logic.