Feature/reference spreading #371
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…ePointFeedbackController. ImpedancePointFeedbackControllerTest.java Is not yet finished.
…ken in Develop) + Removed creation of garbage
… isn't a fair test (convergence with a spring is not necessarily errorMagnitude < previousErrorMagnitude;
…ePointFeedbackController. ImpedancePointFeedbackControllerTest.java Is not yet finished.
…ken in Develop) + Removed creation of garbage
One test does not work but it isn't a fair test (convergence with a spring is not necessarily errorMagnitude < previousErrorMagnitude;
…o feature/reference-spreading
underconstrained does not work so for 4DOF arms disable two dimensions
…o feature/reference-spreading
…o feature/reference-spreading
…reference-spreading
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Impedance control has been added which can be turned on and off for Nadia in
NadiaWalkingControllerParameters.enableImpedanceControl.The simulation that can be used to test it out is
NadiaBoxSimulation. A YoEnum is created to go to the Start Position and then to Swipe the box up._FeedbackControllerfiles have been adjusted to use Impedance when enabled.Control law is stated in the TU/e paper:
Quadratic Programming-Based Reference Spreading
Control for Dual-Arm Robotic Manipulation With
Planned Simultaneous Impacts