Add the relative frame task

stephane-caron / pink

Python inverse kinematics based on Pinocchio

Apache License 2.0

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Add the relative frame task #80

Closed stephane-caron closed 3 months ago

stephane-caron commented 3 months ago

This PR adds a task similar to the existing FrameTask, but a bit more general.

It is, on purpose, not a parent/child class of FrameTask. We can merge them if applicable in a later PR.

Thanks @ymontmarin for helping with the derivation of this task! :+1:

coveralls commented 3 months ago

Pull Request Test Coverage Report for Build 8458281785

Details

90 of 96 (93.75%) changed or added relevant lines in 5 files are covered.
No unchanged relevant lines lost coverage.
Overall coverage decreased (-0.2%) to 99.45%

Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
pink/tasks/relative_frame_task.py	53	59	89.83%
<!--	Total:	90	96	93.75%	-->

Totals
Change from base Build 8422815704:	-0.2%
Covered Lines:	1265
Relevant Lines:	1272

💛 - Coveralls

stephane-caron commented 3 months ago

Thank you @ymontmarin! (And apologies for merging early after our chat, I thought this one was good to go.) I will take care of the fix in https://github.com/stephane-caron/pink/pull/81.

Can you open a PR for your alternative calculation proposal?