Closed wxmerkt closed 4 years ago
In GitLab by @cmastalli on Oct 25, 2019, 12:04
@jmarti thanks for the great work.
The PR makes a lot of modifications. It's difficult for me to check everything and give you more precise feedback. I suggest to first do the modifications that I mentioned, and later split the PR in sub-PRs, e.g.
And again, remove every single modification in the legacy code. It's deprecated, and we'll remove it asap
In GitLab by @jmarti on Oct 27, 2019, 09:55
changed this line in version 2 of the diff
In GitLab by @jmarti on Oct 27, 2019, 09:55
changed this line in version 2 of the diff
In GitLab by @jmarti on Oct 27, 2019, 09:55
changed this line in version 2 of the diff
In GitLab by @jmarti on Oct 27, 2019, 09:55
changed this line in version 2 of the diff
In GitLab by @jmarti on Oct 27, 2019, 09:55
changed this line in version 2 of the diff
In GitLab by @jmarti on Oct 27, 2019, 09:55
changed this line in version 2 of the diff
In GitLab by @jmarti on Oct 27, 2019, 09:55
added 1 commit
In GitLab by @jmarti on Oct 27, 2019, 09:57
changed this line in version 3 of the diff
In GitLab by @jmarti on Oct 27, 2019, 09:57
added 1 commit
In GitLab by @jmarti on Oct 27, 2019, 10:10
Does Pinocchio fill Minv
with the computeAllTerms
function?
If so, would it be better to use self.pinocchioData.Minv
instead of np.linalg.inv(data.M)
?
In GitLab by @cmastalli on Oct 27, 2019, 11:01
The second argument is the nu
. So you need to do:
crocoddyl.DifferentialActionModelAbstract.__init__(self, state, actuationModel.nu, costModel.nr)
In GitLab by @cmastalli on Oct 27, 2019, 11:09
No, computeAllTerms
doesn't compute Minv
. For that you have to do:
pinocchio.cholesky.decompose(model, data)
Minv = pinocchio.cholesky.computeMinv(model, data) # retunrs data.Minv
after computing computeAllTerms
Yes, it is better; more efficient!. Pinocchio uses an efficient and tailored Cholesky decomposition for compute Minv
. This is faster to compute that using a typical matrix inversion.
In GitLab by @jmarti on Oct 28, 2019, 06:12
changed this line in version 4 of the diff
In GitLab by @jmarti on Oct 28, 2019, 06:12
changed this line in version 4 of the diff
In GitLab by @jmarti on Oct 28, 2019, 06:12
added 1 commit
In GitLab by @jmarti on Oct 28, 2019, 06:31
changed this line in version 5 of the diff
In GitLab by @jmarti on Oct 28, 2019, 06:31
added 1 commit
In GitLab by @jmarti on Oct 28, 2019, 06:49
changed this line in version 6 of the diff
In GitLab by @jmarti on Oct 28, 2019, 06:49
changed this line in version 6 of the diff
In GitLab by @jmarti on Oct 28, 2019, 06:49
changed this line in version 6 of the diff
In GitLab by @jmarti on Oct 28, 2019, 06:49
changed this line in version 6 of the diff
In GitLab by @jmarti on Oct 28, 2019, 06:49
added 1 commit
In GitLab by @jmarti on Oct 28, 2019, 06:51
changed this line in version 7 of the diff
In GitLab by @jmarti on Oct 28, 2019, 06:51
added 1 commit
In GitLab by @jmarti on Oct 28, 2019, 07:04
example-robot-data
.By now I'll work with these models locally until we(you) decide were to keep them :smiley:.
The needed classes are already done. Need to be checked.
I'll wait until the double pendulum is working.
I'll wait until the double pendulum is working.
In GitLab by @jmarti on Oct 28, 2019, 07:24
added 2 commits
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
changed this line in version 9 of the diff
In GitLab by @jmarti on Oct 28, 2019, 08:35
added 1 commit
In GitLab by @jmarti on Oct 30, 2019, 06:44
I will remove these examples as they are deprecated.
I'm doing all the examples using notebooks.
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 30, 2019, 06:46
changed this line in version 10 of the diff
In GitLab by @jmarti on Oct 25, 2019, 11:15
_Merges UAMdevel -> devel
Python code to use Crocoddyl with UAVs (unmanned aerial vehicles) and UAMs (unmanned aerial manipulators)