Improve controller base #250
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arntanguy
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Hi @arntanguy Thanks for the feedback, I have integrated it into the PR and rebased on #251 Will merge then CI lands |
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Highlights === `mc_rbdyn::Frame` and `mc_rbdyn::RobotFrame` have been introduced. This removes the unnecessary distinction between bodies and surfaces that has existed in the framework. (#247) API breaks === - `mc_rbdyn::Robots` cannot be created directly anymore, one has to go through a factory function (#247) - `mc_rbdyn::Robots` stores indiviual robot as pointer and in particular `robots.robots()` returns a self reference instead of `vector<Robot>`, `Robots` behaves a little more like a vector now to mitigate the impact of this change (#247) - `EndEffectorTask` and co. cannot use a `bodyPoint` in their constructor anymore, proper frames should be used instead (#247) - `VectorOrientationTask` and co. cannot set or get the `bodyVector` after the fact anymore (#247) Deprecations === - Usage of `body` or `surface` in JSON/YAML is deprecated in favor of frame, the doc will only show `frame` but it should continue to work with all old JSON/YAML files (#247) - Idem for specifications of relative targets (#247) Changes === - [mc_control] Many functionalities of FSM controllers -- notably simplified contact and collision manipulations and configuration based initialization -- are now available in basic controllers (#250) Added === - [mc_control] Controllers can specify extra frames in their configuration frame (#251) - [mc_control] Controllers can specify different `init_pos` for different `MainRobot` (#251) - [mc_rbdyn] Add an overload to load a robot module with a custom name - [mc_rtc_utils] `mc_rtc::shared` is a wrapper around `std::enabled_shared_from_this` to allow reference-style API where the data is backed by a shared pointer (#247) - [mc_tasks] All tasks (when it makes sense) can accept a frame at construction (#247) - [mc_solver] `mc_solver::BoundedSpeedConstr` can be used to constraint a frame velocity (#247) - [mc_solver] Active joints in a collision can be specified via `mc_rbdyn::Collision` objects (#262) - [utils] `build_and_install` now supports Ubuntu Jammy (22.04) (#248) - [utils] `build_and_install` can now install the Panda module (#249) Fixes === - [debian] Python bindings now include mc_observers - [fsm::Meta] Fix missed iterations at the start of meta states (#257) - [mc_control] Make robot position initialization consistant (#245) - [mc_rbdyn] Fix initialization of the default body sensor (#258) - [utils] Fix issues with pip/pip3 on Ubuntu Focal (#246) - [utils] Honor forced selection of Python for mc_log_ui
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The main purpose of this PR is to bring in the helpers from the FSM controller into the regular controller class
This is essentially:
mc_control::fsm::Contacttomc_control::Contact(keeping an alias in thefsmnamespace)mc_solver::QPSolverand the contacts in the controller