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Commits

Commits on Oct 25, 2022

• [ci] Upgrade CI and clang-format

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Commits on Oct 29, 2022

• [tests] Change the output of test-kinematics

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Commits on Nov 29, 2022

• Remove useless files

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• [ci] Use reusable workflow for packaging

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• Release v1.5.0

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Commits on Mar 2, 2023

• Corrected minor errors

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• Wrote the function computeAMatrix() with the right expressions

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• Minor changes to a Jacobian computation

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• added update() function for LocalRightKinematics

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• changed integrate function

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• backup

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• Corrections in the LocalKinematics expressions

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• Corrections on the upate of LocalKinematics

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• Compilable with LocalKinematics (some errors)

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• Correction of minor errors

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• Test precision : 1e-10

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• Test precision : 1e-10 : rigid-body-kinematics

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• adapted the test to the local kinematics

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• Adaptation to the LocalKinematics

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• Kinematics test working

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• Correction of pos/ori from acc : *2 instead of /2

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• added the setToDiffNoAlias function for Kinematics and LocalKinematics

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• added the setToDiffNoAlias function for Kinematics and LocalKinematics

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• Added the conversion between user and centroid frame and assigned the correct kind of kinematics to the variables

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• Corrected a small mistake in the LocalKinematics integrate() function

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• Removed two useless functions

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• Final version of the LocalKinematics test : test succeeded

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• Minor corrections

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• Fixed assert in unmodeledWrenchIndexTangent() : prompting an error if no IMU required

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• Debugging outputs

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• Added the initialization of the state vector, corrected (partially?) the update, fixed some features

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• Allows to attach a program to the debugger

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• Minor corrections

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• fixed issues with the use of contact's and imu's kinematics

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• fixed the conversion from user to centroid frame

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• added functions to access the measurements and measurement predictions made by the observer, in order to plot them

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• [fix] the gyroBiasIndex function is used to construct the state vector but was prompting an error in the case where we were setting the maximum number imu to 0

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• [Debug] testing the predicted measurements without using them in the innovation step

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• [fix] the kinematics were not reset during the call of from vector and could lead to obsolete variables

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• [Debug] adding debugging outputs

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• [Debug] adding a threshold on the A matrix coefficients to detect outliers

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• [fix] corrected an error in the contact's torque expression

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• [fix] corrected an error in the contact's torque expression

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• [Debug] threshold to detect outliers on the contact's torque

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• added build-dbg to gitignore

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• Adding the getMass function

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• Adding the comparison between the analytic and FD A matrices

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• [Debug] debugging outputs

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• [Fix] correcting default covariances

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• [Fix] removing commented code

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• [Variables] renaming variables with the kinematics nomenclature

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• [Fix] correcting an error in the analytical A matrix computation

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• correction in the documentation of addContact

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• re-enbling the innovation

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• [Fix] correction of the initalzation of the contacts : now initializing their worldKine with the one in the user frame (no conversion)

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• [Fix] the test prior to contacts removal was wrong

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• [Debug] Removing debugging outputs

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• [Fix] removed a non-necessary condition that prevented from getting the last measurement size after the ekf update

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• [Debug] allows to access the variable withAccelerationEstimation, used in the logs of MCKO

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• Added the update of the global kinematics for later use

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• [Variables] added a description of k_data_ and k_est_

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• [Kinematics] added the operator= function from LocKine to Kinematics and vice versa

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• [Debug] added the withInnovation variable. To remove after debugging

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• [Debug] To remove : added functions and variables to plot the components of the predicted measurement of the accelerometer

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• Few name changes and minor changes

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• [RigidBodyKinematics] minor change

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• [Debug] Minor changes and outputs

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• [MAJOR FIX] the wrong contact reference was used in the stateDynamics function

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• small fix in function getContactIsSetByNum

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• [RigidBodyKinematics] minor change

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• [Fix] Now initializing with the right covariances

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• [Logger] getter to log some variables

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• [Debug] Commenting out a debugging output

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• [Debug] useless lines

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• [Fix] removed the function getPredictedAccelerationByStateDynamics calling a vector that was not updated anymore and leading to a crash

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• Added runge kutta approximation for integration of LocalKinematics

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• added the withRungeKutta_ variable

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• Using temporary variable for contacts and wrench computations

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• Computing tranpose orientation matrix without intermediary variable

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• Computing tranpose orientation matrix without intermediary variable in computeAMatrix

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• [Error] Adding Runge Kutta to Kinematics objects

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• Fixed Runge Kutta for LocalKinematics (untested for Kinematics)

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• [Error] cout integrateRungeKutta with Kinematics

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• Clang formatting

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• Added test-runge-kutta

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• [Fix] using the wrong integrate function in rungeKutta for Kinematics

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• [Fix] fixed the expression used in the integration of the local linear velocity

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• [NaN] implementation of checkNan for CheckedItem (except Quaternions) and IndexedMatrix objects

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• Adding the test hasNaN to CheckedItems

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• Minor changes

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• minor change

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• [Working] Using unchecked ref in Kinematics, Kinetics Observer "working"

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• Added reset prediction functions to the KF

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• Correcting the runge kutta dynamics integration (to be verified)

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• Correcting the runge kutta dynamics integration (to be verified) part 2

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• Implemented addUnmodeledWrench_ and addContactWrench_ (still unused)

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• Minor changes

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• Implement the comparison functions for the jacobians

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• [Fix] correction of the jacobian of the angular acceleration wrt the contact force

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• [Fix] update the worldContactPose variable before the contact wrench prediction

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• correct the expression of the visco-elastic torque

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• [CMake] add the unit test for the analytical A jacobian to the CMake list

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• create the function skewSymmetricToRotationVector

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• rename updateKine() function to updateLocalKineAndContacts_()

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• rename updateKine() function to updateLocalKineAndContacts_() part 2

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• continue the implementation of the test of the analytical jacobians

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• compute the acceleration variables at the beginning of the analytical jacobian computation

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• add the analytical jacobiano f the local position wrt the external torque

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• correct the jacobian of the orientation integration wrt to the angular acceleration and velocity (factor 2 missing)

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• correct the jacobian of the orientation integration wrt to the angular acceleration and velocity (factor 2 missing) part 2

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• correct the jacobian of omega integration wrt itself

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• correct the "non-use" of the predicted rest position of the contact in the world

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• correct the jacobian of the position wrt the contact force

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• add the jacobian of the position wrt the contact torque

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• correct the jacobian of the contact force wrt the orientation : wrong contact rest position used

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• correct the jacobian of the contact force wrt the contact position

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• correct the jacobian of the contact force wrt the linear velocity

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• correct the jacobian of the contact force wrt the external torque

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• correct the jacobian of the contact force wrt the contact torque

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• minor changes

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• correct the jacobian of the contact torque wrt the orientation

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• correct the computation of the visco-elastic contact torque and use the orientation matrix method

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• modify the comparison function between the FD and analytical jacobians. Almost working but detected sign problem in the integration of the local velocity on the local position

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• correct the integration of the local position

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• correct the jacobian of the contact torque wrt the contact orientation

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• apply stash

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• Correct test-local-kinematics

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• correct the update function of LocalKinematics

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• Correct test-local-kinematics

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• Cleaner implementation of test-analytical-jacobians

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• change computeAMatrix() to public

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• correct the update function of LocalKinematics

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• remove the test functions from kinetics-observer.cpp

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• remove the test functions from kinetics-observer.cpp

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• create updateMeasurements function

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• add id variable to Sensors

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• minor fixes

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• minor fixes

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• add the gyrometer bias

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• Implement the analytical C jacobian

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• Improve the analytical jacobians test

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• correct the analytical Jacobian

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• correct unmodeledWrench and gyroBias Jacobians

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• prevent unchecked acceleration error

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Commits on Mar 14, 2023

• [fix] remove withInnovation variable

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• getters and setters for dynamical variables

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• [fix] remove withInnovation variable part2

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• getters and setters for dynamical variables part2

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• add external wrench from user frame

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• [fix] add angAcc to flagsIMUKine

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• use num only for Contacts and IMUs

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• [fix] remove withInnovation variable part3

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• [fix] wrong userIMUKinematics

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• stateDifference initialized to zero

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Commits on Mar 17, 2023

• [Working] Estimator working

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Commits on Mar 29, 2023

• change test threshold

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• add getNumberOfSetContacts option

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• [fix] getting unchecked ref in kine compositions

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Commits on May 25, 2023

• convertFromUserToCentroid made public

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• Merge branch 'fixClosedLoop'

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Commits on May 29, 2023

• [varName] change reference pose of contact to rest pose

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• [Clean-up] and add doc/comments

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• correct some warnings

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Commits on May 31, 2023

• add zeroKinematics function

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Commits on Jun 2, 2023

• fix compilation

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Commits on Jun 14, 2023

• [Tilt] add function to give x1 explicitely

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• [RigBodKin] fix a wrong condition

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Commits on Jun 16, 2023

• Speed-up the Kalman filter computation

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Commits on Jul 19, 2023

• add backup when fail

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Commits on Jul 20, 2023

• fix test analyticial jacobians

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Commits on Aug 9, 2023

• [Tilt] add initializer and cov mult. bench. for KO

  ArnaudDmt

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  cbcd1e2

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