Evaluate the desired feet acceleration in the planner

robotology / unicycle-footstep-planner

Repository for the Unicycle-based FootStep Planner.

BSD 3-Clause "New" or "Revised" License

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Evaluate the desired feet acceleration in the planner #24

Closed GiulioRomualdi closed 5 years ago

GiulioRomualdi commented 5 years ago

This PR:

add the evaluation of the desired feet acceleration in the FeetCubicSplineGenerator and FeetMinimumJerkGenerator classes;
update the required iDynTree version in the CmakeLists.txt file;
update the required iDynTree version in the README.md file.

S-Dafarra commented 5 years ago

Looks good to me! Did you run any test?

GiulioRomualdi commented 5 years ago

Looks good to me! Did you run any test?

Actually no, probably it's better if I update the existing test and I check the data before merging

GiulioRomualdi commented 5 years ago

I updated the test and this is the result on the z-axis. The acceleration, in the case of cubic spline interpolation, is discontinuous. This problem is already known and it is related to a feature that has to be implemented in iDynTree https://github.com/robotology/idyntree/issues/405 .

zTraj

GiulioRomualdi commented 5 years ago

Yes we can merge

GiulioRomualdi commented 5 years ago

@S-Dafarra can I merge the PR?

S-Dafarra commented 5 years ago

Sorry for the delay, I completely forgot.