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robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).
BSD 3-Clause "New" or "Revised" License
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Add position control mode #98

Closed xela-95 closed 9 months ago

xela-95 commented 9 months ago

This PR adds to the control board plugin the implementation of IPositionControl

This control mode uses a trajectory generator to interpolate between subsequent position references, with multiple possible options (at the moment they are trapezoidal velocity profile, minimum jerk trajectory, constant velocity).

Closes #83

codecov[bot] commented 9 months ago

Codecov Report

Attention: Patch coverage is 32.74596% with 458 lines in your changes are missing coverage. Please review.

Project coverage is 54.65%. Comparing base (13aa198) to head (bb2e705).

Files Patch % Lines
...lugins/controlboard/src/ControlBoardTrajectory.cpp 29.66% 211 Missing :warning:
plugins/controlboard/src/ControlBoardDriver.cpp 5.10% 186 Missing :warning:
plugins/controlboard/src/ControlBoard.cpp 60.00% 54 Missing :warning:
...ins/controlboard/include/ControlBoardTrajectory.hh 36.36% 7 Missing :warning:
Additional details and impacted files ```diff @@ Coverage Diff @@ ## main #98 +/- ## ========================================== - Coverage 62.00% 54.65% -7.36% ========================================== Files 23 26 +3 Lines 2011 2684 +673 ========================================== + Hits 1247 1467 +220 - Misses 764 1217 +453 ```

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xela-95 commented 9 months ago

I have squashed minor commits maintaining only the main ones. Merging.