search

dazzmo / CassieControllers

A controller library for robotic systems
0 stars 0 forks source link

Removed cost constant, moved task costs to a function #19

Closed nic-barbara closed 10 months ago

nic-barbara commented 10 months ago

@dazzmo this is only a minor edit, just tidied up the OSC controller code. Would you mind checking that the changes are ok? In particular, will line 209 of osc.cc be fine if a is a Vector not a Vector3? If not then I can revert this back to its original form.

nic-barbara commented 10 months ago

@dazzmo I've added it to the AddTaskCost function, is that what you had in mind?

dazzmo commented 10 months ago

Yes this is what I was thinking of, thanks for fixing that up. Everything else looks good, happy to merge.