Code

Add Unicycle Trajectory Generator#845

Code

Merged

GiulioRomualdi merged 120 commits intoami-iit:masterami-iit/bipedal-locomotion-framework:masterfrom LoreMoretti:feature/unicycleTrajectoryGeneratorLoreMoretti/bipedal-locomotion-framework:feature/unicycleTrajectoryGeneratorCopy head branch name to clipboardJul 19, 2024

+1,736-37

Commits

Commits on May 2, 2024

• remove planner and use unicycle generator

  LoreMoretti

  committed
  7987552

• use right and left foot shared pointers of the unicycle generator

  LoreMoretti

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  8ef6d87

• implement unicycle planner initialization

  LoreMoretti

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  420bed4

• draft some code

  LoreMoretti

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  37704a1

• add computation of contact phase list

  LoreMoretti

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  c1a89a8

• disable the python bindings for unicycle planner

  LoreMoretti

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  5a818fc

• move unicycle planner inputs to m_pimpl

  LoreMoretti

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  630ae79

• add computation of first trajectories

  LoreMoretti

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  633b1fb

• fix generation of contact list

  LoreMoretti

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  aa3149e

• move some parmeters to m_pimpl

  LoreMoretti

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  26a0a2b

• clean include statements

  LoreMoretti

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  bba0962

• add merge points to the output of the advanceable

  LoreMoretti

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  1e785d9

• first skeleton of unicycle trajectory generator

  LoreMoretti

  committed
  6e889c4

• Implement the logic of the unicycle trajectory.

  Show description for 3847eef
  LoreMoretti

  committed
  3847eef

• add feet contact status outputs to unicycle planner

  LoreMoretti

  committed
  aaf5723

• add steps infomation to the output of the unicycle planner

  LoreMoretti

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  081a269

• add default parameter values

  LoreMoretti

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  acefe85

• add computation of contact phase lists

  LoreMoretti

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  20059d6

• add default parameters

  LoreMoretti

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  1fca827

• remove old code

  LoreMoretti

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  20826ee

• do not use unique pointer for data member unycyclePlanner

  LoreMoretti

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  78de2fe

• add unicycle trajectory generator to Unicycle library

  LoreMoretti

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  cb7d592

• add first trajectories for unicycle generator

  LoreMoretti

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  e62a2d6

• add mutexes and fix segmentation fault

  LoreMoretti

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  1f5c091

• measure async thread spawn time

  LoreMoretti

  committed
  8db5086

• remove debug prints and debug code

  LoreMoretti

  committed
  b5d51da

• add smoke test for unicycle planner

  LoreMoretti

  committed
  232200e

• add smoke test for unicycle trajectory generator

  LoreMoretti

  committed
  c39eb4b

• fix bug: missing negation of a boolean

  LoreMoretti

  committed
  e99be62

• improve computation of contact phase lists

  LoreMoretti

  committed
  751559e

• drop steps when completed

  LoreMoretti

  committed
  a7d8ae2

• fix missing currect contact phase

  LoreMoretti

  committed
  fde9963

• fix unrolling of steps deque

  LoreMoretti

  committed
  e0c3812

• polishing printed messages

  LoreMoretti

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  b71b6f2

• add example for unicycle trajectory generator

  LoreMoretti

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  7b4558c

• change simulation time

  LoreMoretti

  committed
  1f8e0e5

• add CoM planar trajectory generation

  LoreMoretti

  committed
  691f9f5

• add initialization of com system for planar trajectory

  LoreMoretti

  committed
  4dd3a60

• join together the CoM planar and height trajectory

  LoreMoretti

  committed
  74bb1b1

• remove step phases from output

  LoreMoretti

  committed
  e563e6e

Commits on May 3, 2024

• replace idyntree::transform with manif::SE3d

  LoreMoretti

  committed
  581e0aa

• add missing library for compilation

  LoreMoretti

  committed
  66756cd

• polish the include statements

  LoreMoretti

  committed
  321a935

• edit file description

  LoreMoretti

  committed
  cb20557

• Merge branch 'enhance/uniCyclePlanner' into feature/BLFunicyclePlanner

  LoreMoretti

  committed
  91a6d8f

• prepare PR for unicycle planner

  LoreMoretti

  committed
  43a8715

• remove python bindings for unicycle planner

  LoreMoretti

  committed
  db49905

Commits on May 6, 2024

• fix unit test dependencies

  LoreMoretti

  committed
  12c2a4f

• remove trailing whitespace and update changelog.md

  LoreMoretti

  committed
  9f896da

• fix dependecies to compile

  LoreMoretti

  committed
  e46c1f3

• fix dependecies to compile

  LoreMoretti

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  6375e15

• fix dependecies to compile

  LoreMoretti

  committed
  75db094

• renaming from UnicyclePlanner to UnicycleTrajectoryPlanner

  LoreMoretti

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  2d437b2

• update unicycle-footstep-planner version for CI

  LoreMoretti

  committed
  4dd33ed

• add link to YARP_OS library

  LoreMoretti

  committed
  05a85b6

Commits on May 7, 2024

• pass iDynTree Model as input argument, instead of loading urdf model from YARP resource finder

  LoreMoretti

  committed
  65eb0ea

• remove trailing whitespaces

  LoreMoretti

  committed
  12fe9d8

• add brief description of UnicycleTrajectoryPlanner

  LoreMoretti

  committed
  fd52e36

Commits on May 8, 2024

• polish includes, variable names, comments, and eigen block operations

  LoreMoretti

  committed
  dfef4c1

• Apply suggestions from code review

  Show description for b1d5588
  

  LoreMoretti

  and

  GiulioRomualdi

  authored
  b1d5588

• use std::chrono for time

  LoreMoretti

  committed
  eb87904

Commits on May 15, 2024

• fix loading of sample time and planner horizon parameters

  LoreMoretti

  committed
  53f880b

• remove ContactPhaseList from unycycle planner outputs

  LoreMoretti

  committed
  212a07c

• move the getContactList utility to a separated file

  LoreMoretti

  committed
  94cb121

Commits on May 16, 2024

• avoid to load and store robot model

  LoreMoretti

  committed
  1537612

• remove trail whitespace and remove building of ResolveRoboticsURICpp tests

  LoreMoretti

  committed
  5fcd7b7

• update tag of ResolveRoboticsURICpp to 0.0.2

  LoreMoretti

  committed
  c2756f1

• remove usage of ResolveRoboticsURICpp

  LoreMoretti

  committed
  c9a8649

Commits on May 17, 2024

• avoid recreating vectors

  LoreMoretti

  committed
  d10e8cb

• prepare PR for unicycle trajectory generator

  Show description for c635cc1
  LoreMoretti

  committed
  c635cc1

• fix dependencies of unit test

  LoreMoretti

  committed
  9cdc6ca

• update changelog.md

  LoreMoretti

  committed
  3c85ff7

• add command line option to save results file

  LoreMoretti

  committed
  7fb0319

• remove trailing whitespaces

  LoreMoretti

  committed
  1a7cc76

• rename from UnicyclePlanner to UnicycleTrajectoryPlanner

  LoreMoretti

  committed
  2d29a0a

• pass iDynTree Model as input argument, instead of loading it through Yarp Resource Finder

  LoreMoretti

  committed
  eca3ec6

• remove trailing whitespace

  LoreMoretti

  committed
  d114bc5

• use std::chrono

  LoreMoretti

  committed
  3fe77a0

• polish includes, comments, variable names

  LoreMoretti

  committed
  70514ba

• add brief description of the class

  LoreMoretti

  committed
  6aae15b

• fix after moving getContactList utility in another file

  LoreMoretti

  committed
  c470052

• remove robot model by setting the contact frames indexes

  LoreMoretti

  committed
  20f0171

• minor changes to include statements and logging

  LoreMoretti

  committed
  8308bca

• fix loading of dt and plannerAdvanceTimeInS config parameters

  LoreMoretti

  committed
  f4ec033

• move utilities to another file

  LoreMoretti

  committed
  ec87ec8

• reduce the number of vectors being regenerated at each iteration

  LoreMoretti

  committed
  55616eb

• renaming and adding comments

  LoreMoretti

  committed
  46fa191

Commits on May 23, 2024

• add feet cubic spline generator

  LoreMoretti

  committed
  7e6b39b

Commits on May 29, 2024

• apply Giulio's reviews

  LoreMoretti

  committed
  5142879

• prepare PR for unicycle trajectory generator

  Show description for e553549
  LoreMoretti

  committed
  e553549

• fix dependencies of unit test

  LoreMoretti

  committed
  15c93ee

• update changelog.md

  LoreMoretti

  committed
  3fc356c

• add command line option to save results file

  LoreMoretti

  committed
  5bca3a6

• remove trailing whitespaces

  LoreMoretti

  committed
  6ce6d17

• rename from UnicyclePlanner to UnicycleTrajectoryPlanner

  LoreMoretti

  committed
  30807ec

• pass iDynTree Model as input argument, instead of loading it through Yarp Resource Finder

  LoreMoretti

  committed
  b5b0e33

• remove trailing whitespace

  LoreMoretti

  committed
  9ae5d39

• use std::chrono

  LoreMoretti

  committed
  0f2a263

• polish includes, comments, variable names

  LoreMoretti

  committed
  913ef0b

• add brief description of the class

  LoreMoretti

  committed
  c485c3a

• fix after moving getContactList utility in another file

  LoreMoretti

  committed
  04e194c

• remove robot model by setting the contact frames indexes

  LoreMoretti

  committed
  fd8bf9e

• minor changes to include statements and logging

  LoreMoretti

  committed
  02027fb

• fix loading of dt and plannerAdvanceTimeInS config parameters

  LoreMoretti

  committed
  b65de0d

• move utilities to another file

  LoreMoretti

  committed
  98c8163

• reduce the number of vectors being regenerated at each iteration

  LoreMoretti

  committed
  3bf814d

• renaming and adding comments

  LoreMoretti

  committed
  8ebf4a8

• use blf logging instead of std one

  LoreMoretti

  committed
  a028441

Commits on May 30, 2024

• add feet trajectory generation

  LoreMoretti

  committed
  8f30149

Commits on May 31, 2024

• fix merge of steps from current and new trajectories

  LoreMoretti

  committed
  2613fd7

• remove not necessary inputs

  LoreMoretti

  committed
  3f37ebe

• add member function to return the sampling time of the planner

  LoreMoretti

  committed
  1200ca9

Commits on Jun 20, 2024

• Merge branch 'master' into feature/unicycleTrajectoryGenerator

  LoreMoretti

  authored
  ffdef91

Commits on Jun 21, 2024

• polish import statements

  LoreMoretti

  committed
  932d71b

Commits on Jun 27, 2024

• Apply suggestions from code review

  Show description for 3da945d
  

  LoreMoretti

  and

  S-Dafarra

  authored
  3da945d

• apply suggestion

  Show description for 72caa1e
  

  LoreMoretti

  and

  S-Dafarra

  authored
  72caa1e

• improve resetting of contact list

  LoreMoretti

  committed
  3e400df

• removing saving to txt file from unit tests

  LoreMoretti

  committed
  44f6bc5

• use lambda function to step trajectories

  LoreMoretti

  committed
  6285fda

Commits on Jul 1, 2024

• use RAII paradigm to lock mutex

  LoreMoretti

  committed
  908d771