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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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Discuss the possibility to support different data types in the Integrators. #56

Closed GiulioRomualdi closed 4 years ago

GiulioRomualdi commented 4 years ago

The integrator class supports only iDynTree objects. This limitation is due to https://github.com/dic-iit/bipedal-locomotion-framework/blob/8a3c44b020142bb68236057212a05ef82144af23/src/System/include/BipedalLocomotion/System/ForwardEuler.h#L48

In the next future, this may become a problem when we will extend the support the CasADi data types.

This issue is to keep track of the possible solutions.

Related issue: https://github.com/robotology/idyntree/issues/510

GiulioRomualdi commented 4 years ago

Fixed by https://github.com/dic-iit/bipedal-locomotion-framework/pull/70