Improve reference tracking - Githubissues

resibots / inria_wbc

Generic whole-body controller based on quadratic programming

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Improve reference tracking #68

Closed ibergonzani closed 2 years ago

ibergonzani commented 3 years ago

for now, we do not give acceleration references and velocity references in the behaviors

REQUIRED Add velocity, acceleration references and compare the tracking performance with three cases :

position ref like it is now
- change the task in TSID (take a new one) that does not have any reference for velocity and acceleration (let the optimizer decide withing the bounds)
- specify acceleration and velocity (which we can compute when we generate the trajectory)

dalinel commented 2 years ago

This has been merged already