Add position control mode #98
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #98 +/- ##
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- Coverage 62.00% 54.65% -7.36%
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Files 23 26 +3
Lines 2011 2684 +673
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+ Hits 1247 1467 +220
- Misses 764 1217 +453 ☔ View full report in Codecov by Sentry. |
This class is mainly copied from the `ControlBoardDriverTrajectory` class from gazebo-yarp-plugins, adapted to work with the new gazebo APIs
- Remove dependency from not used model pointer - Add traj. generator factory class
- JointProperties updated to contain fields related to trajectory generation - Add a field to store control update period in ControlBoardData (now with a constant value, soon it will be read from configuration)
Also update the `initTrajectory` method to accept the control update period
Note: the correct behavior is to decouple the controller update rate from the simulation one; this will be addressed in a future issue
The deadlock was caused to the call to `getLimits` that tried to acquire the lock already acquired by the calling method.
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traversaro
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traversaro
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traversaro
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Also, fix the default value for joint acceleration in the trajectory
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I have squashed minor commits maintaining only the main ones. Merging. |
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This PR adds to the control board plugin the implementation of IPositionControl
This control mode uses a trajectory generator to interpolate between subsequent position references, with multiple possible options (at the moment they are trapezoidal velocity profile, minimum jerk trajectory, constant velocity).
Closes #83