feature/expression_factors

borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.

BSD 2-Clause "Simplified" License

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Closed yetongumich closed 2 years ago

yetongumich commented 2 years ago

Create constrained expression for

TwistFactor
TorqueFactor
WrenchEquivalenceFactor Notice that for WrenchFactor and TwistAccelerationFactor, there are too many variables involved in the function, and the Expression constructor currently cannot deal with that (it currently only handles unary, binary and tenary functions). I will make a future PR to handle those factors.