Add process dynamics class for external contacts #759
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isorrentino
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S-Dafarra
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| */ | ||
| struct FT : Sensor | ||
| struct FTSENSOR : Sensor |
src/Estimators/src/SubModel.cpp
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| if (!group->getParameter("ukf_names", ukfNames)) | ||
| { | ||
| blf::log()->error("{} The parameter handler could not find 'ukf_names' in the " | ||
| "configuration file for the group {}.", | ||
| logPrefix, | ||
| groupName); | ||
| return false; | ||
| } |
| { | ||
| REQUIRE((output.ftWrenches[key] - value.row(sample).transpose()).isZero(0.1)); | ||
| REQUIRE((output.contactWrenches[sensors["contact"][idx].ukfSensorName]).isZero(5.0)); |
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5.0 as tolerance is a lot https://eigen.tuxfamily.org/dox/classEigen_1_1DenseBase.html#af36014ec300f53a65083057ed4e89822
| for (auto const& [key, value] : dataset.fts) | ||
| for (int idx = 0; idx < sensors["ft"].size(); idx++) | ||
| { | ||
| REQUIRE((output.ftWrenches[sensors["ft"][idx].ukfSensorName] - dataset.fts[sensors["ft"][idx].sensorName].row(sample).transpose()).isZero(0.1)); |
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You can use isApprox (https://eigen.tuxfamily.org/dox/classEigen_1_1DenseBase.html#ae8443357b808cd393be1b51974213f9c)
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| REQUIRE((output.ftWrenches[sensors["ft"][idx].ukfSensorName] - dataset.fts[sensors["ft"][idx].sensorName].row(sample).transpose()).isZero(0.1)); | |
| REQUIRE((output.ftWrenches[sensors["ft"][idx].ukfSensorName].isApprox( dataset.fts[sensors["ft"][idx].sensorName].row(sample).transpose())); |
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I pushed the changes after your review. I saw that the CI is failing but the errors are not related to the code of this PR. |
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Hi @GiulioRomualdi, I just rebased this branch on master. Feel free to review it again (if needed) or merge it. |
GiulioRomualdi
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Dec 13, 2023
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This PR introduced a process model for the external contacts defined as
In addition, the PR changes the logic to define a name for the dynamics. Indeed, the name of the dynamics has to match the name
ukf_namedefined in themodelconfiguration file. This solves the problem described in #760 which was causing a segmentation fault when using the ft frame as the external contact frame.cc @GiulioRomualdi @S-Dafarra