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Feature/centroidal mpc #422

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@GiulioRomualdi GiulioRomualdi commented Sep 30, 2021

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@GiulioRomualdi
Implement Corner and ContactWithCorners in the Contacts component
2b05ece
@GiulioRomualdi
Implement CentroidalDynamics class in ContinuousDynamicalSystem
4d50eb2
@GiulioRomualdi
Implement first version of the CentroidalMPC
fd730b1
@GiulioRomualdi
Enable the compilation of the CentroidalMPC controller
5068214
@GiulioRomualdi
Fix sampling time in the CentroidalMPCTest
a9ad69a
@GiulioRomualdi
- Change the logic used to consider active contacts in CentrodalMPC
ad75c30 
- Now the force is expressed in MIXED representation
@GiulioRomualdi
Log the foot pose in CentroidalMPCTest
b914ab6
@GiulioRomualdi
Change footsize in CentroidalMPCTest
855f2bc
@GiulioRomualdi
Extend the state of the CentroidalMPC to consider also the foot pose …
79e259f 
…as input
@GiulioRomualdi
Improve the CentroidalMPC test
d5356cf
@GiulioRomualdi
Add the possibility to add an external disturbance to the CentroidalD…
22490a4 
…ynamics
@GiulioRomualdi
General improvements of the CentroidalMPC controller
20fbc08 
- Step recovery enabled
@GiulioRomualdi
Update the CentroidalMPC test to consider the step recovery
7cae0af
@GiulioRomualdi
Merge remote-tracking branch 'master' into feature/CentroidalMPC
bbc9f84
@GiulioRomualdi
Add the possibility to change the bounding box size for the contact a…
1dc127d 
…djustment in the CentroidalMPC controller
@GiulioRomualdi
Update the CentroidalMPC test considering the bounding box for the co…
29955e1 
…ntact adjustment
@GiulioRomualdi
Merge branch 'master' into feature/CentroidalMPC
e00ccfd
@GiulioRomualdi
Implement setContactPhaseListWithoutResetInternalTime() in the FixedF…
9cc134d 
…ootDetector class
@GiulioRomualdi
Implement setContactListWithoutResetInternalTime() in the SwingFootPl…
ebdead8 
…anner class
@GiulioRomualdi
Update the Centroidal MPC
6cfe29f
@GiulioRomualdi GiulioRomualdi mentioned this pull request Sep 30, 2021
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🔨 component: Contacts 🔨 component: ContinuousDynamicalSystem 🔨 component: Planners 🔨 component: ReducedModelControllers

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