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Feature/calculator inertia updates #15

Merged
merged 43 commits into from
Jan 19, 2024
Merged

Feature/calculator inertia updates #15

merged 43 commits into from
Jan 19, 2024

Commits on Sep 26, 2023

  1. Use directly the inertia from the body instead of a local copy

    @SylvainBertrand
    SylvainBertrand committed Sep 26, 2023
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Commits on Sep 27, 2023

  1. Make update subtree inertia method private, add iterative subtree ine… 

    …rtia to correct field
    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  2. Update JointTorqueRegressorCalculator to match new ID API

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  3. Update CenterOfMassJacobian

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  4. Update CentroidalMomentumCalculator

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  5. Removed some redundant if lines

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  6. Forgot to add in bodyInertia manipulations

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  7. Update CentroidalMomentumRateCalculator

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  8. Update CompositeRigidBodyMassMatrixCalculator

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  9. Update ForwardDynamicsCalculator

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  10. Forgot to make some update subtree methods private

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  11. Update MultiBodyGravityGradientCalculator

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  12. Simplified some logic

    @james-p-foster
    james-p-foster committed Sep 27, 2023
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  13. Working on test for validating CenterOfMassJacobian when inertial par… 

    …ameters are changed
    @james-p-foster
    james-p-foster committed Sep 27, 2023
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Commits on Sep 28, 2023

  1. Added test for CenterOfMassJacobian when varying inertial parameters;… 

    … note cannot vary CoM offset because of frame issues
    @james-p-foster
    james-p-foster committed Sep 28, 2023
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  2. Added test for CentroidalMomentumCalculator when varying inertial par… 

    …ameters
    @james-p-foster
    james-p-foster committed Sep 28, 2023
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  3. Added test for CentroidalMomentumRateCalculator when varying inertial… 

    … parameters; note cannot vary CoM offset due to wrench computation assuming zero offset
    @james-p-foster
    james-p-foster committed Sep 28, 2023
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  4. Added test for ForwardDynamicsCalculator when varying inertial parame… 

    …ters; note cannot vary CoM offset because of not positive definite articulated body inertia issues
    @james-p-foster
    james-p-foster committed Sep 28, 2023
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  5. Added test for CompositeRigidBodyMassMatrixCalculator

    @james-p-foster
    james-p-foster committed Sep 28, 2023
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  6. Missed setting some subtree inertia components in CompositeRigidBodyM… 

    …assMatrixCalculator
    @james-p-foster
    james-p-foster committed Sep 28, 2023
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Commits on Sep 29, 2023

  1. Removed some redundant lines

    @james-p-foster
    james-p-foster committed Sep 29, 2023
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  2. Added parallel axis contribution of center of mass offset to random s… 

    …patial inertia methods
    @james-p-foster
    james-p-foster committed Sep 29, 2023
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  3. Sylvain fixed CenterOfMassJacobianTest

    @james-p-foster
    james-p-foster committed Sep 29, 2023
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  4. Working on InverseDynamicsCalculator tests

    @james-p-foster
    james-p-foster committed Sep 29, 2023
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Commits on Oct 31, 2023

  1. Merge branch 'develop' into feature/calculator-inertia-updates

    @james-p-foster
    james-p-foster committed Oct 31, 2023
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Commits on Nov 2, 2023

  1. Fixed CenterOfMassJacobianTest

    @james-p-foster
    james-p-foster committed Nov 2, 2023
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  2. Fixed CentroidalMomentumRateCalculatorTest

    @james-p-foster
    james-p-foster committed Nov 2, 2023
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  3. Fixed ForwardDynamicsCalculatorTest

    @james-p-foster
    james-p-foster committed Nov 2, 2023
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  4. Passing MultiBodyGravityGradientCalculatorTest apart from center of m… 

    …ass offset variations
    @james-p-foster
    james-p-foster committed Nov 2, 2023
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  5. Unused imports

    @james-p-foster
    james-p-foster committed Nov 2, 2023
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  6. Remove pointless test, sort out imports

    @james-p-foster
    james-p-foster committed Nov 2, 2023
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  7. More import shenanigans

    @james-p-foster
    james-p-foster committed Nov 2, 2023
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Commits on Nov 9, 2023

  1. Removed toSkewSymmetricMatrix from MecanoRandomTools, added additiona… 

    …l toTildeForm methods in MecanoTools
    @james-p-foster
    james-p-foster committed Nov 9, 2023
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  2. Braces for the brace god

    @james-p-foster
    james-p-foster committed Nov 9, 2023
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  3. Remove silly logic that Sylvain found

    @james-p-foster
    james-p-foster committed Nov 9, 2023
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Commits on Nov 15, 2023

  1. Merge remote-tracking branch 'origin/develop' into feature/calculator… 

    …-inertia-updates
    @james-p-foster
    james-p-foster committed Nov 15, 2023
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Commits on Jan 9, 2024

  1. Merge remote-tracking branch 'origin/develop' into feature/calculator… 

    …-inertia-updates

# Conflicts:
#	src/main/java/us/ihmc/mecano/tools/MecanoRandomTools.java
#	src/main/java/us/ihmc/mecano/tools/MecanoTools.java
#	src/test/java/us/ihmc/mecano/tools/MecanoToolsTest.java
    @james-p-foster
    james-p-foster committed Jan 9, 2024
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Commits on Jan 18, 2024

  1. Merge branch 'develop' into feature/calculator-inertia-updates 

    # Conflicts:
#	src/main/java/us/ihmc/mecano/algorithms/ForwardDynamicsCalculator.java
#	src/main/java/us/ihmc/mecano/algorithms/InverseDynamicsCalculator.java
#	src/test/java/us/ihmc/mecano/algorithms/ForwardDynamicsCalculatorTest.java
    @james-p-foster
    james-p-foster committed Jan 18, 2024
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  2. Updated to be compatible with develop

    @james-p-foster
    james-p-foster committed Jan 18, 2024
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Commits on Jan 19, 2024

  1. More WIP on MultiBodyGravityGradientCalculator

    @james-p-foster
    james-p-foster committed Jan 19, 2024
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  2. Remove print statements to clear up test output

    @james-p-foster
    james-p-foster committed Jan 19, 2024
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  3. Formatting and cleanup

    @james-p-foster
    james-p-foster committed Jan 19, 2024
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  4. More minor formatting to reduce diff

    @james-p-foster
    james-p-foster committed Jan 19, 2024
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