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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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set gravity vector as an input argument of the CentroidalMPC #823

Closed LoreMoretti closed 2 months ago

LoreMoretti commented 3 months ago

The goal of this PR is to expose the gravity vector as an input argument of the CentroidalMPC.

In this way, the user can pass it as other input arguments (like currentCOM, externalWrench, ...).

User can leverage the setState member function, or the setGravity one, to pass the gravity vector.

Moreover, if the user does not specify it, by default it is set to [0, 0, -9.81].

LoreMoretti commented 2 months ago

I made a mistake with the rebase. I will fix it.

GiulioRomualdi commented 2 months ago

Thank you @LoreMoretti! Merging!