PeterBowman
commented
2 years ago Not doing, we have been no longer actively working on ASIBOT nor AMOR for years. The forc command at BCC is being revisited now in https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/162.
Split from #108. Several methods either lack an implementation, yet, or can be improved. Namely:
AsibotSolver::invDyn(const std::vector<double> &q,std::vector<double> &t)AsibotSolver::invDyn(const std::vector<double> &q,const std::vector<double> &qdot,const std::vector<double> &qdotdot, const std::vector< std::vector<double> > &fexts, std::vector<double> &t)AmorCartesianControl::gmcp()AmorCartesianControl::forc(const std::vector<double> &td)BasicCartesianControl::forc(support TCP frame)Don't forget about unit tests!