Variable feasible region task #922
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S-Dafarra
reviewed
Jan 17, 2025
src/TSID/include/BipedalLocomotion/TSID/VariableFeasibleRegionTask.h
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C.C. @CarlottaSartore |
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The CI are failing with the following error: I was able to replicate the error on my machine, It was due to the verion of yarp, when I downgraded from |
I fixed this in #910 |
…ntrolled elements
rob-mau
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src/TSID/include/BipedalLocomotion/TSID/VariableFeasibleRegionTask.h
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| bool m_isInitialized{false}; /**< True if the task has been initialized. */ | ||
| bool m_isValid{false}; /**< True if the task is valid. */ | ||
| std::size_t m_NumberOfVariables{0}; /**< Number of variables. */ | ||
| std::size_t m_variableSize{0}; /**< Size of the variable considered in the task. */ |
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Instead of having m_variableName and m_variableSize you can directly store the variable
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I tried to be consistent with the tasks already implemented, e.g. VariableRegularizationTask
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| // if the size of the m_controlledElements vector is zero, this means that the entire | ||
| // variable is regularized | ||
| // iDynTree::toEigen(this->subA(variable)).setIdentity(); // devo sostituirlo col comando | ||
| // sotto? | ||
| m_S = Eigen::MatrixXd::Identity(m_variableSize, m_variableSize); |
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I think this is a mistake m_s is in general (m_variableSize x m_NumberOfVariables) matrix so only a subpart should contain the identity. The other should be zero. So perhaps
iDynTree::toEigen(this->subA(variable)).setIdentity()is correct
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I'm not sure I interpreted the code correctly. Isn't the condition m_controlledElements.size() == 0 equivalent to m_variableSize == m_NumberOfVariables?
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Fixed with the commit b8820ac.
GiulioRomualdi
approved these changes
Jan 23, 2025
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Implemented and Tested the 'VariableFeasibleRegionTask'.