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Topic/hrg #57

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Commits on Sep 6, 2017

  1. Mehdi Damping

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Commits on Sep 28, 2017

  1. Added rotor inertia to the mass matrix

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  2. Merge branch 'master' of https://github.com/jrl-umi3218/RBDyn into to… 

    …pic/HRG
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Commits on Oct 25, 2017

  1. Fixed the indices for the allocation of the rotor inertia

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Commits on Oct 31, 2017

  1. Implemented the computation of the Coriolis factorization in FD

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Commits on Nov 13, 2017

  1. Merge branch 'master' of https://github.com/jrl-umi3218/RBDyn into to… 

    …pic/HRG
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Commits on Dec 15, 2017

  1. Added the optimized Coriolis Factorization calculation

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  2. Merge branch 'master' of https://github.com/jrl-umi3218/RBDyn into to… 

    …pic/HRG
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Commits on Mar 6, 2018

  1. Added IntegralTerm class

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Commits on Mar 9, 2018

  1. Changed Int to Intgl and added a more optimal way of computing inv(H)

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  2. Merge branch 'master' of https://github.com/jrl-umi3218/RBDyn into to… 

    …pic/HRG
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  3. Merge branch 'topic/HRG' of github.com:rafaelxero/RBDyn into topic/HRG

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Commits on Mar 25, 2018

  1. Debugging IntglTerm [WIP]

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Commits on Mar 26, 2018

  1. Little format correction

    @rafaelxero
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  2. Fixed conflicts

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    rafaelxero committed Mar 26, 2018
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Commits on Mar 29, 2018

  1. Removed commented prints and a dirty patch to put P[i] as 0 for some … 

    …joints
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Commits on Mar 30, 2018

  1. added a print for debugging

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Commits on Apr 16, 2018

  1. debugging gammaD and H

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Commits on Jul 27, 2018

  1. Changes for debugging

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Commits on Jul 28, 2018

  1. In order to merge

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Commits on Jul 29, 2018

  1. Added MassDiagonal and debugging prints

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Commits on Jul 30, 2018

  1. Added some debugging prints

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  2. Added computeHIr, enabled the computation of gammaD and commented out… 

    … some debugging prints
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Commits on Jul 31, 2018

  1. Changed some debugging comments

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Commits on Aug 7, 2018

  1. Removed debugging comments

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  2. Merge branch 'topic/HRG_FD' into topic/HRG

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Commits on Aug 13, 2018

  1. Added iostream to print

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Commits on Dec 3, 2018

  1. Created a base class: TorqueFeedbackTerm, and added the subclass Pass… 

    …ivityPIDTerm... changed names of files
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  2. Cleaned debugging comments

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Commits on Feb 18, 2019

  1. Modified the definition of L in Passivity PID Term

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  2. Merged master into this temporal branch, created from topic/HRG

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  3. Changed namespace from coriolis to rbd

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Commits on Mar 4, 2019

  1. Merged Pierre's branch with mine

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Commits on Mar 6, 2019

  1. Merge branch 'master' of https://github.com/jrl-umi3218/RBDyn into temp

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Commits on Jun 23, 2019

  1. Started to code IntegralTermAntiWindup [WIP]

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Commits on Jul 7, 2019

  1. Implemented the Rev_Fixed type of joint as well as the method fixRevJ… 

    …oints, but it is not working properly [WIP]
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  2. Finished to code the antiwindup gain

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Commits on Jul 8, 2019

  1. Some debugging comments

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Commits on Jul 10, 2019

  1. Changed temporarily sComputeH to use a python script without errors

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  2. Degugging message on the size of H()

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Commits on Jul 11, 2019

  1. Solved conflicts

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Commits on Jul 17, 2019

  1. Solved conflicts

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  2. Had erased these by mistake

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  3. They are actually considered as submodules now

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  4. Updated .gitmodules from master

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Commits on Jul 29, 2019

  1. Calculated time spent on computations

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Commits on Jul 30, 2019

  1. Added ElapsedTimeMap to TorqueFeedbackTerm

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Commits on Aug 5, 2019

  1. Updated the antiwindup solution using max acceleration for the floati… 

    …ng base
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  2. Added IntegralTermAntiWindup to the enum and disabled debugging comments

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Commits on Aug 22, 2019

  1. Started to implement the feedforward friction term

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Commits on Aug 23, 2019

  1. Improved the Coriolis computation

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  2. Added feedforward Friction vector computation

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Commits on Aug 25, 2019

  1. Added three models of friction and centralized it

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Commits on Sep 2, 2019

  1. Modified IntegralTermAntiWindup to specify each maximum acceleration … 

    …component of the floating base
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Commits on Sep 13, 2019

  1. New model of friction

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Commits on Sep 16, 2019

  1. Added simplified rational model of the stiction

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Commits on Sep 17, 2019

  1. Improved the computation of r, Bf and delta

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Commits on Oct 7, 2019

  1. Prepare to log the Coriolis matrix

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Commits on Oct 10, 2019

  1. Coriolis matrix as member variable and get function

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Commits on Oct 11, 2019

  1. fixed conflicts

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Commits on Nov 10, 2019

  1. Disabled debugging comments on the anti-windup solution

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Commits on Dec 4, 2019

  1. Add the possibility of using a filtered integral

    @mehdi-benallegue
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Commits on Dec 5, 2019

  1. Merge pull request #1 from mehdi-benallegue/topic/HRG 

    Topic/hrg Add the filtering on the integral term
    @rafaelxero
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  2. Correct the computation of the filtered S

    @mehdi-benallegue
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Commits on Jan 10, 2020

  1. Working on the smooth torque transition [WIP]

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Commits on Jan 20, 2020

  1. Merge remote-tracking branch 'rafaelxero/topic/HRG' into topic/HRG

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Commits on Jan 21, 2020

  1. Merge pull request #2 from mehdi-benallegue/topic/HRG 

    Correct the computation of the filtered integral term
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Commits on Jan 23, 2020

  1. Continued working on the smooth transition but still testing

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Commits on May 22, 2020

  1. Solved conflicts by moving my files to the new subdirectory

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Commits on May 29, 2020

  1. Cleaned commented out code from TorqueFeedbackTerm and disabled (temp… 

    …orarily) the filter
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Commits on Jun 2, 2020

  1. Fixed index error related to the anti-windup solution of the floating… 

    …-base, and enabled integral term filter
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Commits on Jul 1, 2020

  1. Fixed asser error related to zero sized matrices when building H and C

    @mehdi-benallegue
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  2. Merge pull request #4 from mehdi-benallegue/topic/HRG 

    Fixed asser error related to zero sized matrices when building H and C
    @rafaelxero
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Commits on Jul 9, 2020

  1. Added some debugging comments for the smooth transition to torque con… 

    …trol
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Commits on Jul 21, 2020

  1. Merge branch 'master' of https://github.com/jrl-umi3218/RBDyn into to… 

    …pic/HRG
    @rafaelxero
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  2. Temporarily disabled the lambda for the positions of the floating-bas… 

    …e as it is still hard-coded [WIP]
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Commits on Feb 4, 2021

  1. Solved conflicts

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  2. Solved the issues that were warnings before and now they are errors

    @rafaelxero
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Commits on Feb 14, 2021

  1. Treat the part of K corresponding to the free-flyer different (test)

    @rafaelxero
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Commits on Aug 6, 2021

  1. Merge branch 'master' into topic/HRG

    @rafaelxero
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  2. [Joint.h] Specified missing Eigen::

    @rafaelxero
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