Todo List

Member sobec::Flex::correctDeflections (const eVector2 &leftFlexingTorque, const eVector2 &rightFlexingTorque, eVectorX &q, eVectorX &dq)

: Do we include an option to choose between filtered / not filtered?

Class sobec::FlexSettings

BIND AND TEST IT.

Member sobec::HorizonManager::currentTorques (const Eigen::VectorXd &measured_x)

: make a boolean -> IT is necessary to have solved at least one time to use this method.

Member sobec::HorizonManager::setBalancingTorque (const unsigned long time, const std::string &nameCostActuation, const std::string &nameCostState)

: All functions using string names, should receive such names as input.

Member sobec::LocomotionType

: in order to switch between locomotions safely, incorporate a terminal constraint

: bind these enumerations

Member sobec::WBC::generateStandingCycle (ModelMaker &mm)

: bind it

Member sobec::WBC::generateStandingCycleNoThinking (ModelMaker &mm)

: bind it

Member sobec::WBC::initialize (const WBCSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName)

: Remove this from the initialization and provide it as a method.

Member sobec::WBC::updateStepTrackerReferences ()

: the names must be provided by the user

Member sobec::WBCHorizon::initialize (const WBCHorizonSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName)

: Remove this from the initialization and provide it as a method.

Member sobec::WBCHorizon::updateStepTrackerReferences ()

: the names must be provided by the user

Class sobec::WBCHorizonSettings

: in order to switch between locomotions safely, incorporate a terminal constraint

Member sobec::WBCHorizonSettings::totalSteps

: add the cost names as setting parameters.

Member sobec::WBCSettings::totalSteps

: add the cost names as setting parameters.