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Pull request #1168

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Robot stability

Added by Jules Waldhart over 5 years ago. Updated over 5 years ago.

Status:
New
Priority:
High
Assignee:
Guilhem Buisan
Repository URL:

Description

This pull request adds method to compute robot center of mass and static stability (support polygon) to move4d. It uses new libmove3d v4.1 (adds mass information from urdf).

There is a new cost function "Stability" for debug purpose mostly, and a the Stability class has a constraint function that can be used as a inequality constraint for NL optimization algorithms.

branch is move4d : ft1167

related to feature #1167

Actions #1

Updated by Guilhem Buisan over 5 years ago

Maybe add a "Constraint" base class from which "Stability" class can inherit. This base class could have "check" and "cost" functions.

Actions #2

Updated by Jules Waldhart over 5 years ago

Good idea, maybe, but not related to this pull-request. I'll add a feature tracker for that.

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