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cmower / optas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
https://cmower.github.io/optas/
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Deprecating manipulability measure methods #87

Closed cmower closed 1 year ago

cmower commented 1 year ago

@joaomoura24 I am planning to deprecate all the manipulability measure RobotModel methods in #37 . Will this affect your code base?

The reason I want to get rid of them is because (i) it's a lot to maintain, (ii) "manipulability" is somewhat ambiguous since there is other measures than the common Yoshikawa measure, and (iii) it's not such a difficult thing for a user to implement themselves given all the other methods we provide.

I think in the future it would be nice to revisit this and properly implement manipulability measure methods that handle all the cases given a nicer interface. For example, see here.

cmower commented 1 year ago

@joaomoura24 confirmed elsewhere, closing now since this was addressed in #88