MPC State Error moves in WBCC Thread #570
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- Adding SCS2AvatarMPCSimulation - Adding SCS2AvatarMPCSimulationFactory - Editing MPC specific classes in NadiaMPCSimulation and NadiaMPCSimulationFactory
…Factory. - Changing the class in NadiaMPCSimulationFactory, SCS2AvatarMPCSimulation and SCS2AvatarMPCSimulationFactory.
- Modifying called class name.
- Adding MPC StepgeneratorThread and task
- wbcc thread is added to the controller. But that thread is still empty, do nothing.
…olTask. - Changing the parents class for MPCControllerTaks, MPCEstimatorTaks, MPCStepGeneratorTask and MPCWholeBodyControllerCoreTask to MPCHumanoidRobotControlTask. - boolean of wholebodycontrollercoreRan is added to HumanoidRobotMPCContextData.
…eBodyControllerCoreManager is called in every tick. - HWBCCM is still empty, so it do nothing.
…lver as parent class. - MPCControllerTask, MPCWholeBodyControllerCoreTask is connected to the MPCCrossRobotCommandResolver. But the MPCEstimatorTask is still connected to the CrossRobotCommandResolver. Because, its updates to Master and to local has not been changes.
- This data type will contain the result of the mpcController and will be delivered to MPCWholeBodyControllerCoreThread from MPCControllerThread
…HumanoidRobotMPCContextData. - In HumanoidWholeBodyControllerCoreManager, the desiredMPCControllerOutput is called and then saved into `desiredJointOutput`which is populated into actuator.
- Let the wholeBodyControllerCore compute be called in WBCC Thread. - The controllerCoreCommand which includes the MPCControllerOutput is delivered to WBCC thread from ControllerThread. - StateError Vector in MPC with WBCC is still updated in ControllerThread.
SolutionFloatingBasePose, --baseLinearVelocity, --AngularVelocity, and lowLevelMPCControllerOutputs(Joint position, velocities, and torques) are saved into this dataHolder. ** From the visual graphic, contact wrench seems like bigger than before. Need to check this. However, the MPCChestSimulation works well, too.
…ler Thread to wbcc Thread. But, there are still errors.
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A few method is added in the control state to return the values of MPC Solutions