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(hard) linear constraint classes#30

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ibergonzani wants to merge 9 commits intoARC-OPT:masterARC-OPT/wbc:masterfrom ibergonzani:hard_joint_constraintibergonzani/wbc:hard_joint_constraintCopy head branch name to clipboard

+1,731-1,093

Commits

Commits on Jun 29, 2022

• [wip] hard constraint class

  ibergonzani

  committed
  0d3e7a8

Commits on Jun 30, 2022

• Implementation of limits, contacts and rb dynamics constraint in their own classes

  ibergonzani

  committed
  4f11a3e

• fix virtual destructor and add cmake target dependency

  ibergonzani

  committed
  0365f34

• add dt parameter to scene constructor (vel_quadratic and acc_tsid)

  ibergonzani

  committed
  e52a293

• check acceleration limits are nan or not

  ibergonzani

  committed
  f526e95

Commits on Jul 1, 2022

• add update method to task classes. move implementation from scene

  ibergonzani

  committed
  cc792f4

• remove task update from scene

  ibergonzani

  committed
  a367f69

• Started renaming Constraint to Task, move them to separate folder

  ibergonzani

  committed
  dbced80

• Add COM task from: Merge branch 'master' into hard_joint_constraint

  ibergonzani

  committed
  f1d7e7a