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Clean branch #12

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Clean branch #12

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gergondet and others added 30 commits October 25, 2022 09:18
@gergondet
[ci] Upgrade CI and clang-format
4c22c0b
@gergondet
[tests] Change the output of test-kinematics
43f370a 
When running through msbuild + ctest this confuses msbuild to think
there was an error in the process for some reason :s
@gergondet
Remove useless files
81c4a66
@gergondet
[ci] Use reusable workflow for packaging
dbd609c
@gergondet
Release v1.5.0
3d7fabc 
* Add support for CoM offset and ZMP coefficient (stack-of-tasks#16)
@ArnaudDmt
Corrected minor errors
a21a0aa
@ArnaudDmt
Wrote the function computeAMatrix() with the right expressions
b1560c9
@ArnaudDmt
Minor changes to a Jacobian computation
d679893
@ArnaudDmt
added update() function for LocalRightKinematics
be20e77
@ArnaudDmt
changed integrate function
bcc435f
@ArnaudDmt
backup
41e7448
@ArnaudDmt
Corrections in the LocalKinematics expressions
ee02896
@ArnaudDmt
Corrections on the upate of LocalKinematics
0385a16
@ArnaudDmt
Compilable with LocalKinematics (some errors)
b44a595
@ArnaudDmt
Correction of minor errors
1b4be09
@ArnaudDmt
Test precision : 1e-10
665baf9
@ArnaudDmt
Test precision : 1e-10 : rigid-body-kinematics
e9efbd9
@ArnaudDmt
adapted the test to the local kinematics
f6e5a0f
@ArnaudDmt
Adaptation to the LocalKinematics
22c2a28
@ArnaudDmt
Kinematics test working
7b396c2
@ArnaudDmt
Correction of pos/ori from acc : *2 instead of /2
51d0c6d
@ArnaudDmt
added the setToDiffNoAlias function for Kinematics and LocalKinematics
1ce789e
@ArnaudDmt
added the setToDiffNoAlias function for Kinematics and LocalKinematics
c7e740e
@ArnaudDmt
Added the conversion between user and centroid frame and assigned the…
4a4d992 
… correct kind of kinematics to the variables
@ArnaudDmt
Corrected a small mistake in the LocalKinematics integrate() function
3d58968
@ArnaudDmt
Removed two useless functions
b7e3445
@ArnaudDmt
Final version of the LocalKinematics test : test succeeded
29cb2d4
@ArnaudDmt
Minor corrections
d5c21a3
@ArnaudDmt
Fixed assert in unmodeledWrenchIndexTangent() : prompting an error if…
7efd916 
… no IMU required
@ArnaudDmt
Debugging outputs
a03fc97
ArnaudDmt added 30 commits March 2, 2023 19:17
@ArnaudDmt
correct the analytical Jacobian
79f3061 
not working if gyroBias and UnmodeledWrench not used
@ArnaudDmt
correct unmodeledWrench and gyroBias Jacobians
7629783
@ArnaudDmt
prevent unchecked acceleration error
ce43971
@ArnaudDmt
[fix] remove withInnovation variable
7b1aae1
@ArnaudDmt
getters and setters for dynamical variables
c3bf9d2
@ArnaudDmt
[fix] remove withInnovation variable part2
13f4ef1
@ArnaudDmt
getters and setters for dynamical variables part2
1930e3a
@ArnaudDmt
add external wrench from user frame
606278d
@ArnaudDmt
[fix] add angAcc to flagsIMUKine
e3f4ebf
@ArnaudDmt
use num only for Contacts and IMUs
d4fdcb7
@ArnaudDmt
[fix] remove withInnovation variable part3
f61fb27
@ArnaudDmt
[fix] wrong userIMUKinematics
5d69c61
@ArnaudDmt
stateDifference initialized to zero
af4e088
@ArnaudDmt
[Working] Estimator working
f92b46c
@ArnaudDmt
change test threshold
46f2c19
@ArnaudDmt
add getNumberOfSetContacts option
0c3303e 
can be called only within the loop and not at the beginning or the end as isSet would be reset
@ArnaudDmt
[fix] getting unchecked ref in kine compositions
c9ccb99
@ArnaudDmt
convertFromUserToCentroid made public
91b2d2d
@ArnaudDmt
Merge branch 'fixClosedLoop'
2eb05fe
@ArnaudDmt
[varName] change reference pose of contact to rest pose
30e9779
@ArnaudDmt
[Clean-up] and add doc/comments
bc292ae
@ArnaudDmt
correct some warnings
2fff960
@ArnaudDmt
add zeroKinematics function
53e3db3
@ArnaudDmt
fix compilation
44b7c04
@ArnaudDmt
[Tilt] add function to give x1 explicitely
ee87679
@ArnaudDmt
[RigBodKin] fix a wrong condition
5e7701b
@ArnaudDmt
Speed-up the Kalman filter computation
3b7eaca
@ArnaudDmt
add backup when fail
9eb0f81
@ArnaudDmt
fix test analyticial jacobians
5bc29e4
@ArnaudDmt
[Tilt] add initializer and cov mult. bench. for KO
cbcd1e2
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2 participants
@ArnaudDmt @gergondet