Closed CarlottaSartore closed 3 years ago
I reviewed the code and it seemed ok to me at a first glance. I did not run any controller which uses this library, therefore I could not debug for theoretical issues. But we're currently testing this controller offline with @CarlottaSartore, and it seems working fine. Therefore merging.
This PR implements the hyperbolic tangent method to constraint the CoM position and removes the Linear Momentum Constraint i.e.
$$ \dot{x}_{CoM,Lower}tanh(\epsilon_l[x{CoM}-x_{lower}])<J_{CMM}\dot{s}_{K+1}<tanh(\epsilon_u [x_{upper}- x_{CoM}])\dot{x}\{CoM,upper} $$
where
In addition, minor fixes are introduced
C.C. @gabrielenava