Todo List

Member Constancy::Constancy ()

Upper boundaries should be input somehow from configuration file

Member MIQPController::_Sw

For the moment this has been hardcoded to take into account only CoM velocity references.

Member MIQPController::run ()

Watch out! _eigGurobi will add a 1/2. Therefore the 2. Check that this is correct.

The expression for _H_N is missing regularization terms

Member MIQPLinearConstraints::buildShapeAndAdmissibilityInPreviewWindow ()

When walking constraints are added, matrix _A will be a stack of the two

Member MIQPLinearConstraints::MIQPLinearConstraints (std::shared_ptr< StepController > stepController, MIQPParameters &miqpParams)

Once I add walking constraints this will change to include the rows added by walking constraints

Member SingleSupport::buildMatrixCi ()

Bound S must not be hardcoded

Member StepController::initialize ()

This max velocity must be compatible with the one specified in the linar constraints

Member SteppingDemoClient::isBalanced ()

A more balance-centered criterion should be used for this, ZMP-based for example.

Class Thread

Remove task sequences. This class sets up an ocra::Model which is constructed from an OcraWbiModel and an ocra::Controller which can be specified as either a WocraController, a GocraController, or a HocraController. The thread is looped at the period specified by the user (defaults to 10ms) and on each loop the Model is updated and the control torques are recalculated. *At the writing of this comment, task sequences are still in use and they too are initialized and updated here. They will be removed eventually.*

Member WalkingClient::initialize ()

Dummy initial COM states reference!

Member WalkingClient::prepareAndsetDesiredCoMTaskState (Eigen::VectorXd comState, bool doSet)

Change input to this method to just com acceleration.

Member ZmpController::ZmpController (const int period, std::shared_ptr< ocra::Model > modelPtr, std::shared_ptr< ZmpControllerParams > parameters)

Deprecate this class

Member ZmpPreviewController::buildHh (Eigen::MatrixXd Ch, Eigen::MatrixXd Bh, Eigen::MatrixXd Ah, const int Nc, const int Np)

Check the first for loop of this method. I think this should be Np - 1

Member ZmpPreviewController::computeOptimalInput (const Eigen::MatrixBase< Derived > &zmpRef, const Eigen::MatrixBase< Derived > &comVelRef, const Eigen::MatrixBase< Derived > &hk, Eigen::MatrixBase< Derived > &optimalU)

Remember that the bOptimal I have to use is actually not Weiber's because it doesn't take into account com velocity references.