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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
39 stars 10 forks source link

Made Phase methods functional #263

Closed dellaert closed 3 years ago

dellaert commented 3 years ago

Added Phase::ContactPointGoals type and made Phase::contactPointObjectives functional, moving updating of goal points to Phase::updateContactPointGoals. Closes #254

dellaert commented 3 years ago

I feel honored to review :) just a thought - maybe we want to test for cp_goals update also in testWalkCycle.cpp? since we update cp_goals in the loop (in WalkCycle.cpp) after the factors of the phase are added. at the end cp_goals should be the ContactPointsGoals of the last phase? or maybe we don't care?

Good suggestion!