Issues in handling Second-Order Constraint w/friction

hungpham2511 / toppra

robotic motion planning library

https://hungpham2511.github.io/toppra/index.html

MIT License

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Issues in handling Second-Order Constraint w/friction #49

Closed hungpham2511 closed 4 years ago

hungpham2511 commented 5 years ago

The current implementation of SecondOrderConstraint is incapable of handling constraints with dimensions different from the robot's dof.

Possible solution: Perhaps a more general implementation of SecondOrderConstraint is needed. Joint-torque with friction can be cast as a special case of this general implementation.

github-actions[bot] commented 4 years ago

Stale issue message