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dazzmo / CassieControllers

A controller library for robotic systems
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Make all tasks use callbacks rather than code repetition #14

Closed nic-barbara closed 6 months ago

nic-barbara commented 11 months ago

When we fixed the bug with task accelerations being positive instead of negative, we found that joint_track_task.cc and joint_limit_task.cc repeat code from the Update function in task.cc. They should just have a callback instead.

dazzmo commented 6 months ago

The new OSC structure in 5b90119a7c6fc99693b3371f4994a8659659f221 removes the need for callbacks.