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@stephane-caron stephane-caron released this 14 Nov 03:29
· 179 commits to master since this release
v1.3
9d36084

The main features of this release are the Doxygen API documentation and the integration of the JVRC-1 robot model. This model is free and reproduces in Choreonoid simulations all the walking and stair climbing patterns from the controller configuration:

jvrc1_stair_climbing

Added

  • Doxygen API documentation
  • JVRC-1 robot model configuration
  • ModelPredictiveControl: log ZMP and CoM velocity references
  • Stabilizer: alternative DCM gain tuning by pole placement under ZMP lag model

Fixed

  • Add EIGEN_MAKE_ALIGNED_OPERATOR_NEW to all structs
  • Anti-aliasing condition for EMA and LPF filters
  • Handle corner case where the DSP duration is zero
  • Initialization of realCom and realComd

Changed

  • Contact: removed t(), b() and n() shorthands
  • Moved torso pitch setting to "torso" dictionary of robot config
  • Moved world definitions to utils/world.h
  • Renamed ModelPredictiveControlSolution to Preview
  • Switch license to BSD 2-clause for compatibility with other mc_rtc projects
  • Updated dependencies
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