Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add Unicycle Trajectory Generator #845

Merged
merged 120 commits into from
Jul 19, 2024
Merged

Add Unicycle Trajectory Generator #845

merged 120 commits into from
Jul 19, 2024

Conversation

LoreMoretti
Copy link
Contributor

@LoreMoretti LoreMoretti commented May 6, 2024 •
edited
Loading

This PR provides a Unicycle Trajectory Generator that combined with the Unicycle Trajectory Planner of #844 mimics the functionalities of the planner used in walking-controllers.

Considering a Master-Slave architecture, Unicycle Trajectory Generator acts as the master.

It is in charge of:

  • advancing the Unicycle Trajectory Planner any time a new trajectory needs to be computed
  • merging the current trajectory with the next one returned by the Unicycle Trajectory Planner
  • unrolling the current trajectory (i.e., it advances it over time)

This PR should be merged after #844.

LoreMoretti and others added 30 commits May 2, 2024 17:27
@LoreMoretti
remove planner and use unicycle generator
7987552
@LoreMoretti
use right and left foot shared pointers of the unicycle generator
8ef6d87
@LoreMoretti
implement unicycle planner initialization
420bed4
@LoreMoretti
draft some code
37704a1
@LoreMoretti
add computation of contact phase list
c1a89a8
@LoreMoretti
disable the python bindings for unicycle planner
5a818fc
@LoreMoretti
move unicycle planner inputs to m_pimpl
630ae79
@LoreMoretti
add computation of first trajectories
633b1fb
@LoreMoretti
fix generation of contact list
aa3149e
@LoreMoretti
move some parmeters to m_pimpl
26a0a2b
@LoreMoretti
clean include statements
bba0962
@LoreMoretti
add merge points to the output of the advanceable
1e785d9
@LoreMoretti
first skeleton of unicycle trajectory generator
6e889c4
@LoreMoretti
Implement the logic of the unicycle trajectory.
3847eef 
The code does not compile yet.
@LoreMoretti
add feet contact status outputs to unicycle planner
aaf5723
@LoreMoretti
add steps infomation to the output of the unicycle planner
081a269
@LoreMoretti
add default parameter values
acefe85
@LoreMoretti
add computation of contact phase lists
20059d6
@LoreMoretti
add default parameters
1fca827
@LoreMoretti
remove old code
20826ee
@LoreMoretti
do not use unique pointer for data member unycyclePlanner
78de2fe
@LoreMoretti
add unicycle trajectory generator to Unicycle library
cb7d592
@LoreMoretti
add first trajectories for unicycle generator
e62a2d6
@LoreMoretti
add mutexes and fix segmentation fault
1f5c091
@LoreMoretti
measure async thread spawn time
8db5086
@LoreMoretti
remove debug prints and debug code
b5d51da
@LoreMoretti
add smoke test for unicycle planner
232200e
@LoreMoretti
add smoke test for unicycle trajectory generator
c39eb4b
@LoreMoretti
fix bug: missing negation of a boolean
e99be62
@LoreMoretti
improve computation of contact phase lists
751559e
@LoreMoretti
Copy link
Contributor Author

@traversaro the failed conda-forge dependencies CIs (for Ubuntu/Windows) seem some download error. Could you confirm?

@LoreMoretti LoreMoretti marked this pull request as ready for review June 21, 2024 07:40
@traversaro
Copy link
Collaborator

@traversaro the failed conda-forge dependencies CIs (for Ubuntu/Windows) seem some download error. Could you confirm?

Yes, it is due to conda/infrastructure#906 as we are using packages from robostack-staging in the CI. I wonder if this could be mitigated using conda instead of mamba, I will try.

S-Dafarra
S-Dafarra reviewed Jun 21, 2024
View reviewed changes
examples/CMakeLists.txt Outdated Show resolved Hide resolved
src/Planners/tests/UnicycleTrajectoryGeneratorTest.cpp Outdated Show resolved Hide resolved
src/Planners/include/BipedalLocomotion/Planners/UnicycleUtilities.h Outdated Show resolved Hide resolved
src/Planners/src/UnicycleTrajectoryGenerator.cpp Outdated Show resolved Hide resolved
src/Planners/src/UnicycleTrajectoryGenerator.cpp Outdated Show resolved Hide resolved
src/Planners/src/UnicycleTrajectoryGenerator.cpp Outdated Show resolved Hide resolved
src/Planners/src/UnicycleTrajectoryGenerator.cpp Outdated Show resolved Hide resolved
src/Planners/src/UnicycleTrajectoryGenerator.cpp Outdated Show resolved Hide resolved
S-Dafarra
S-Dafarra approved these changes Jul 1, 2024
View reviewed changes
Copy link
Member

@S-Dafarra S-Dafarra left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looks good to me, well done 🚀

@GiulioRomualdi GiulioRomualdi merged commit 342c5c9 into ami-iit:master Jul 19, 2024
10 of 11 checks passed
traversaro pushed a commit that referenced this pull request Aug 11, 2024
@LoreMoretti @traversaro
Add Unicycle Trajectory Generator in Planner component (#845)
c83ffc2
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@S-Dafarra S-Dafarra S-Dafarra approved these changes

@GiulioRomualdi GiulioRomualdi GiulioRomualdi approved these changes

Assignees

@LoreMoretti LoreMoretti

Labels
🔨 component: Planners 🏫 Examples
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
4 participants
@LoreMoretti @traversaro @GiulioRomualdi @S-Dafarra