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euslisp / jskeus

This repository contains EusLisp software developed and used by JSK at The University of Tokyo
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add example for preview controller and resolved momentum control #228

Closed k-okada closed 9 years ago

k-okada commented 9 years ago

@snozawa which functions is "public" API that use should call in their program

preview control : https://github.com/euslisp/jskeus/blob/master/irteus/irtdyna.l#L1056 ?? momentum control: ??

k-okada commented 9 years ago

cc: @terasawa

snozawa commented 9 years ago

Example for Preview Controller is included in demo/walk-motion.l. https://github.com/euslisp/jskeus/blob/master/irteus/demo/walk-motion.l#L195 irteus's preview contoller is oriented to generate COG trajectory and dynamics filtering. I'll add documentation string to these classes later. (@terasawa, adding documentation string is welcome!)

Currently, resolved momentum control is not implemented on irteus. However, related calculation methods such as momentum jacobiand and angular momentum jacobian are already committed to irtdyna.l: https://github.com/euslisp/jskeus/blob/master/irteus/demo/walk-motion.l#L195 Momentum jacobian is currently used as COG jacobiand and :fullbody-inverse-kinematics and so on. These methods does not have documentation string currently.

snozawa commented 9 years ago

@terasawa I updated documentation and examples for preview control https://github.com/euslisp/jskeus/pull/254. If you have any question and more request, please reopen this issue.