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Commits on Jun 13, 2017

• Added hasConstraint function to QPSolver

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• Merge branch 'master' of git://github.com/jrl-umi3218/Tasks into topic/HRG

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Commits on Oct 31, 2017

• Merge branch 'master' of github.com:jrl-umi3218/Tasks into topic/HRG

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Commits on Nov 9, 2017

• Added PassiveMotionConstr

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Commits on Dec 6, 2017

• Fix type of P and small indentation changes

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Commits on Dec 11, 2017

• Transformed mbcs_calc_ into shared_ptr

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• Merge branch 'master' of https://github.com/jrl-umi3218/Tasks into topic/HRG

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• Solved invalid dimensions that led to Eigen::assignCoef Segmentation Fault

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Commits on Dec 12, 2017

• Merge branch 'master' of github.com:jrl-umi3218/Tasks into topic/HRG

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• Merge branch 'topic/HRG' of github.com:rafaelxero/Tasks into topic/HRG

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Commits on Dec 15, 2017

• [WIP] Fixed sign of P_, used the new optimized Coriolis, computed Mdot, used a temporary s for testing, made virtual void computeTorque, used shared_ptr for mbcs_calc_

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• [WIP] Used dofToVector for alphaVec_ref and alphaVec_hat

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Commits on Dec 19, 2017

• Merge branch 'topic/HRG' of github.com:rafaelxero/Tasks into topic/HRG

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Commits on Dec 25, 2017

• [WIP] P = K s

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Commits on Dec 27, 2017

• Working, but with debugging messages commented out

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• Removed commented messages

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• Merge branch 'topic/HRG' of github.com:rafaelxero/Tasks into topic/HRG

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Commits on Mar 6, 2018

• Used fd as shared_ptr, changed name to IntTermMotionConstr and used intTerm as shared_ptr

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Commits on Mar 9, 2018

• Changed PassiveMotionConstr to IntglTermMotionConstr and added IntglTermContactPDConstr [WIP]

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• Avoid unnecessary copy of mb

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• Fix bindings for Motion*Constr taking shared_ptr of FD

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• Merge branch 'master' of github.com:jrl-umi3218/Tasks into topic/HRG

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• Merge branch 'master' of github.com:jrl-umi3218/Tasks into topic/HRG_FD

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Commits on Mar 13, 2018

• Added refVel and refAccel to TrajectoryTask

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• Merge branch 'topic/HRG_FD' of https://github.com/rafaelxero/Tasks into topic/HRG_FD

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Commits on Jul 31, 2018

• Premultiplied Jac * gammaD by csd.sign and added some debugging prints

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Commits on Aug 1, 2018

• Disabled some debugging prints

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Commits on Aug 3, 2018

• Debugging messages and hasConstraint with const argument

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Commits on Aug 4, 2018

• Tab

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• Merge branch 'topic/HRG_FD' of github.com:rafaelxero/Tasks into topic/HRG_FD

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Commits on Aug 6, 2018

• Printed lambda correctly

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Commits on Aug 7, 2018

• Removed debugging comments

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• Merge branch 'topic/HRG_FD' into topic/HRG

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Commits on Aug 8, 2018

• Merge branch 'topic/HRG_FD' of github.com:rafaelxero/Tasks into topic/HRG_FD

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• Merge branch 'topic/HRG_FD' into topic/HRG

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Commits on Aug 16, 2018

• Overrided ContactData and added stiffness and damping fields to it, not finished or tested yet [WIP]

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Commits on Aug 17, 2018

• Added the functionality of specifying different PD gains for each contact, and it is working properly

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• Merge branch 'topic/HRG' of https://github.com/rafaelxero/Tasks into topic/HRG

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Commits on Sep 14, 2018

• Some debugging messages commented out

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Commits on Sep 19, 2018

• Started to code the WrenchTask [WIP]

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• Some debugging messages

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Commits on Sep 21, 2018

• Continued with the development of WrenchTask [WIP]

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Commits on Oct 15, 2018

• Coding WrenchTask's updateNrVars and update [WIP]

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Commits on Oct 16, 2018

• Finished to code the WrenchTask (not tested yet)

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Commits on Oct 17, 2018

• Added dimWeight to the WrenchTask and the functionality to specify the desired wrench in the local frame

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Commits on Oct 30, 2018

• The WrenchTask is working properly... also commented some debugging messages

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Commits on Nov 1, 2018

• Changed the WrenchTask to use ForceVecd and finished to code the AdmittanceTask

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Commits on Nov 2, 2018

• Specified different gains for force and moment for the AdmittanceTask

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Commits on Dec 3, 2018

• Finished the Admittance Task and added bodyPoint to the Wrench Task

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• Added PassivityPIDTerm_QPSolver and made the modificaitons related with the change of name of TorqueFeedbackTerm

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• Cleaned up debugging comments

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Commits on Feb 18, 2019

• Completed the admittance task and changed the minimum value for the lambda value

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• Started to develop the Contact Hybrid Constraint [WIP]

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• Started to write a function to get the Motion Constraint, if any [WIP], to be used to calculate the FD

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• Merged master into this temporal branch, created from topic/HRG

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Commits on Mar 4, 2019

• Debugging comments

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Commits on Mar 6, 2019

• Merge branch 'master' of https://github.com/jrl-umi3218/Tasks into temp

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• Removed unused debugging comments

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Commits on Mar 14, 2019

• Started to code the YawMomentCompensationTask

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Commits on Apr 26, 2019

• NaN Test

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Commits on Jul 7, 2019

• Added a debugging comment for fd_->H() (commented out)

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Commits on Jul 10, 2019

• Changed the nantest

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Commits on Jul 13, 2019

• Solved conflicts

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Commits on Jul 14, 2019

• Fixed some omissions done while solving conflicts

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Commits on Jul 19, 2019

• Debugging the Segmentation Fault [WIP]

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Commits on Aug 15, 2019

• Started to develop the CentroidalAngularMomentumTask [WIP]

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Commits on Aug 18, 2019

• Finished to implement CentroidalAngularMomentumTask and started to implement ZMPTask [WIP]

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Commits on Aug 19, 2019

• Finished to implement the ZMPTask

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Commits on Aug 21, 2019

• Added public to ZMPTask

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Commits on Aug 22, 2019

• Stored the computed torque before adding the integral term

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Commits on Aug 23, 2019

• Started to develop the MotionFrictionConstr [WIP]

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• Corrected little mistake

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Commits on Aug 25, 2019

• Centralized the friction

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• Added ZMPBasedCoMTask and ForceDistributionTask [WIP]

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Commits on Aug 26, 2019

• Debugged errors

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Commits on Aug 27, 2019

• Complemented the ForceDistributionTask

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• Created two versions of the MotionConstr for the feedback term, one with friction and one without

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• Reorganized and shortened titles

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• Changed tabulations

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Commits on Aug 28, 2019

• Had forgotten to initialize angMomentum_

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Commits on Aug 29, 2019

• Added tab

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Commits on Aug 30, 2019

• Added some debugging messages

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Commits on Aug 31, 2019

• Changed place of ZMPBasedCoMTask

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Commits on Sep 1, 2019

• Changed ZMPTask to calculate and retrieve totalForce and totalMomentZMP

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Commits on Sep 2, 2019

• Added debugging messages

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• Started to implement the NullSpaceAdmittanceTask

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Commits on Sep 3, 2019

• Continued implementing NullSpaceAdmittanceTask

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Commits on Sep 4, 2019

• Implementing the projection in NullSpaceAdmittanceTask

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• Completed the NulSpaceAdmittanceTask, but pending to debug [WIP]

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• Finished to implement NullSpaceAdmittanceTask, and right now is independent of AdmittanceTask

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• Added AdmittanceTaskCommon

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Commits on Sep 5, 2019

• Some debugging messages in ZMPTask

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Commits on Sep 7, 2019

• Fixed a wrong initialization

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Commits on Sep 8, 2019

• Debugged the NullSpaceAdmittanceTask and now it is working properly

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Commits on Sep 19, 2019

• Added get functions to get the matrices of the solver

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Commits on Oct 6, 2019

• Using measured com Z for LIP

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Commits on Oct 11, 2019

• Merge branch 'master' of https://github.com/jrl-umi3218/Tasks into topic/HRG

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Commits on Oct 30, 2019

• Debugging ZMPTask

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Commits on Oct 31, 2019

• Still debugging the problem with the absolute coordinates of the MCS

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Commits on Nov 4, 2019

• Added name fields to the tasks

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Commits on Nov 6, 2019

• Changed the implementation of the reception of measured wrenches, and added debugging message

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Commits on Nov 7, 2019

• Still debugging the null space admittance tasks

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Commits on Nov 10, 2019

• Added new implementation of the ForceDistributionTask and created a common base class

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Commits on Nov 11, 2019

• Started to implement the ZMPWithForceDistributionTask

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Commits on Nov 12, 2019

• Finished the implementation of ZMPWithForceDistribution

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Commits on Nov 13, 2019

• Added the LocalCoPTask

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Commits on Nov 19, 2019

• Solved issue of the NullSpaceAdmittanceTask when removing a contact

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Commits on Nov 24, 2019

• Use of the desired com height in the ZMPBasedCoMTask

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Commits on Dec 5, 2019

• Merge remote-tracking branch 'origin/master' into topic/HRG

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• Merge pull request #1 from mehdi-benallegue/topic/HRG

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Commits on Dec 9, 2019

• Added a getter for calculatedWrench in NullSpaceAdmittanceTask

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Commits on Jan 29, 2020

• Commented out the ZMPWithForceDistributionTask

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Commits on Mar 13, 2020

• Solved conflicts

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Commits on May 11, 2020

• Fixed the force glitches when switching contacts

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Commits on May 12, 2020

• Fixed the force distribution ratio glitches when switching contacts

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Commits on May 13, 2020

• Fixed force glitches in the admittance tasks, but code is not optimized

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• Merged bodies_ and contactBodies_ of NullSpaceAdmittanceTas

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Commits on May 22, 2020

• Merge branch 'master' of https://github.com/jrl-umi3218/Tasks into topic/HRG

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• Removed the commented out ZMPWithForceDistributionTask

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Commits on Jul 21, 2020

• Merge branch 'master' of https://github.com/jrl-umi3218/Tasks into topic/HRG

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Commits on Feb 6, 2021

• Merge branch 'master' of https://github.com/jrl-umi3218/Tasks into topic/HRG

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• Had forgotten to update signatures with fd

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Commits on Feb 15, 2021

• Added an include for Rafael's code

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Commits on Feb 16, 2021

• Merge pull request #2 from mehdi-benallegue/topic/HRG

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Commits on Aug 6, 2021

• Merge branch 'master' into topic/HRG

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