Code

Implement CentroidalMPC#258

Code

Closed

GiulioRomualdi wants to merge 9 commits intomasterami-iit/bipedal-locomotion-framework:masterfrom CentroidalMPCami-iit/bipedal-locomotion-framework:CentroidalMPCCopy head branch name to clipboard

+1,616-13

Commits

Commits on May 9, 2021

• Implement Corner and ContactWithCorners in the Contacts component

  GiulioRomualdi

  committed
  7a7c9e0

• Implement CentroidalDynamics class in ContinuousDynamicalSystem

  GiulioRomualdi

  committed
  65a6d42

• Implement first version of the CentroidalMPC

  GiulioRomualdi

  committed
  491c7fa

• Enable the compilation of the CentroidalMPC controller

  GiulioRomualdi

  committed
  f87ca07

• Remove useless print in CentroidalDynamics

  GiulioRomualdi

  committed
  3dc83df

• Add the possibility to enable/disable the SE3Task controller in IK component

  GiulioRomualdi

  committed
  9f973cb

• Change the signature of LinearizedFrictionCone::initialize()

  GiulioRomualdi

  committed
  17df8a6

• Continue the implementation of CentroidalMPC controller

  GiulioRomualdi

  committed
  f649616

• Update CentroidalMPCTest

  GiulioRomualdi

  committed
  47fcb80