Feature/pull in filters #15
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james-p-foster
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Oct 23, 2024
build.gradle.kts
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| @@ -21,9 +21,11 @@ dependencies { | |||
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| api("us.ihmc:ihmc-commons:0.32.0") | |||
| api("us.ihmc:euclid-frame:0.21.0") | |||
| // api("org.ejml:ejml-ddense:0.39") | |||
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Ideally we could verify whether or not this is actually required before merge.
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I did verify it is not needed and need to delete it, thank you
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…s in their respective maven directory structure Remove ihmc-java-extensions. Move everything into ihmc-commons except for a few things that needed Euclid. Moved those into robotics-toolkit. Switched to use FrameQuaternion from Euclid. Changed FrameTuple2D<?, ?> to FrameTuple2DReadOnly where possible. Reducing usage of FrameTuple3D. Got rid of YoFrameQuaternion.get(QuaternionBasics). Got rid of YoFrameQuaternion.get(RotationMatrix). Switched to euclid 0.7.7.1. switched the rate limited yo frame vector to take in frame tuples so it can be used with frame points
made two methods use read only
…llows the use of either parameters or yovariables. Also created a AlphaBasedOnBreakFrequencyProvider
Also changed RateLimitedYoFramePose to use a YoFrameQuaternion instead of a YoFrameOrientation. Changed RateLimitedYoFramePose to create less YoVariables. I'm not really happy about having to duplicate RateLimitedYoFrameVector to create RateLimitedYoFramePoint. That should be easy to cleanup later though. Created AlphaBasedOnBreakFrequencyProvider. Changed the alpha filter to be compatible with parameter. Propagated the change to the classes using the AlphaFilteredYoVariable. Made the same change to the alpha filtered yo frame quaternion. Forgot to create alpha when not provided. Updated codebase.
…r parameters. Cleanup: made alpha filtered yo variable not call getValue() on alpha provider on first update. That way it can be called in the constructor to initialize the filter. Switched yovariables to DoubleProviders for the rate limiter, allowing to pass in a parameter instead of a yovariable for the ratelimit.
… foot to avoid bouncing if the feet are at the same height.
…uring toe off create a set and update flag for the rate limited yo frame point 2d Forgot to create mutable frame rate limited vectors. Fixed compilation errors.
…isting acceleration limited yo variable to use double providers completely overhualed the acceleration limited yo frame vector 3D
…ve internal state.
Started cleanup and documentation of the tools. Fix frame problem in AccelerationLimitedYoFrameVector3D
Made the reset consistent with other filtering classes
Simplify from Dex's feedback. Get filtering with break frequency working. Add and test reset. Call reset.
…ng in the joint torque based foot switch
…umns with String arrays Improved the API Fixed silly constructor logic error Fix bug of exception never being thrown Temporary port of in-progress YoMatrix changes
Inconsistent constructor naming Make YoMatrix set and get API more general More correct implementation of AlphaFilteredYoMatrix, more API for setting and solving separately Fix bug in YoMatrix Remove underscore seperators from YoMatrix Refactored the updating of actual robot spatial inertias
…rajectory and its implementations. Hexapod still depends on it. delete matrix yo variable converter tools delete some old yo variable tools delete some unused yo variable tools delete unused stiction model tools delete unused alpha to alpha functions deleted some controller classes, and left others to be reviewed deprecated some straght line tests, they need to be pushed into the striaght line pose traejctory removed straight line poisition trajectory from the pose test removed the straight line independent trajectory generators that werent used deleted the unused qp code deleted projection tools started switching away from random geometry class and the old robotics assert converted more of the tests to the right format switched getting all the current crop of moving away from random geometry working got rid of the custom random matrix generator class deleted the random geometry class, since its duplicated by other tools fixed some deletes and removed some provider structure that did nothing fixed some more deletes moved the planar landmark to the correct place deleted many other classes delete unused code deleted a whole bunch of stuff from the java toolkit deleted the simple walking controller
added a to string for the yo matrix fixed some tests for yo matrix. They failed based on the way that the yo matrix gets initialized, and a change in the implementation of the zero method
… control core significantly overhauled and set up custom pid parameters for the whole body controller core moved a lot of the filtered yo variables into a common project that can be moved to commons moved a bunch of the polynomial classes out after getting things solidified, but need to fix the linear systems tests cleaned up a lot more of the yo variable types and moved their packages got more code moved and most of the linear algebra tests fixed removed unused code set up wbcc for extraction
prepped the yo variables by moving them into their own packages
…epos will be structured
set up the euclid update repo, including javadoc and pulling over the tests moved the mecano packages around set up a robotics tools project to become its own repo
…vadoc on some of the core classes did a bunch of testing and javadoc, and cleaned up polynomial3D
⬆️ euclid 0.22.0
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This will require a version bump of commons to compile.