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Add impedance control method computed in local frame for c++, fix centroidal controller quaternion bug, and transform to ROS 2 package #29

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Add impedance control method computed in local frame for c++, fix centroidal controller quaternion bug, and transform to ROS 2 package #29

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896b942
Add impedance control method computed in local frame for c++
swuuu Oct 30, 2022
40c75ea
Fix quaternion difference bug for centroidal controller in python, mo…
swuuu Jan 27, 2023
f1c66be
Update package.xml
swuuu Feb 1, 2023
33ef65e
Add back license tag to avoid build error
swuuu Feb 2, 2023
6addafd
Remove underscore
swuuu Feb 7, 2023
8001af6
Remove ament_cmake
swuuu Feb 7, 2023
7b178a3
Add license
swuuu Feb 7, 2023
ce5e3e1
Replace mim_control_ with impedance
swuuu Feb 20, 2023
02d70c1
Fix quaternion_difference()
swuuu Feb 20, 2023
0678ac6
Unindent class
swuuu Feb 20, 2023
42912fa
Reformat hpp and cpp files
swuuu Feb 23, 2023
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17 changes: 17 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ search_for_boost_python()
# Optionnal
find_package(dynamic-graph QUIET)
find_package(dynamic-graph-python QUIET)
find_package(ament_cmake QUIET)
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set(build_dynamic_graph_plugins FALSE)
if(${dynamic-graph_FOUND} AND ${dynamic-graph-python_FOUND})
Expand Down Expand Up @@ -97,6 +98,14 @@ if(${build_dynamic_graph_plugins})
DESTINATION include)
endif()

#
# Allow other ROS packages to link to this package during compilation
#
if (ament_cmake_FOUND)
ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
ament_export_dependencies(yaml_utils)
endif()

#
# Install the package
#
Expand Down Expand Up @@ -154,3 +163,11 @@ add_documentation()
# create the cmake package
#
generate_cmake_package(INSTALL_EXPORT)

#
# Allow other ROS 2 packages to find the header files
#
if (ament_cmake_FOUND)
ament_export_include_directories(include)
ament_package()
endif()
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