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jrl-umi3218 / Tasks

The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.
BSD 2-Clause "Simplified" License
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Extending the PostureTask for reference velocities and accelerations #74

Closed ndehio closed 3 years ago

ndehio commented 3 years ago

Hi @gergondet so far I added new methods refVel() and refAccel(). It is, however, unclear to me where and how to incorporate the reference velocities and accelerations into the control law: in Tasks.cpp or in QPTasks.cpp ? It seems that Tasks.cpp is not aware of stiffness and damping values. thanks for your advice Niels

gergondet commented 3 years ago

Hi @ndehio

I've implemented this with Eigen::VectorXd for the reference velocity and acceleration. It doesn't make too much sense to include them in tasks::PostureTask because it is unaware of stiffness/damping so it's only implement in tasks::qp::PostureTask

I'm closing this in favor of #75