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Add Unicycle Trajectory Generator#845

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GiulioRomualdi merged 120 commits intoami-iit:masterami-iit/bipedal-locomotion-framework:masterfrom LoreMoretti:feature/unicycleTrajectoryGeneratorLoreMoretti/bipedal-locomotion-framework:feature/unicycleTrajectoryGeneratorCopy head branch name to clipboardJul 19, 2024

+1,736-37

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Commits on May 2, 2024

• remove planner and use unicycle generator

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• use right and left foot shared pointers of the unicycle generator

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• implement unicycle planner initialization

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• draft some code

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• add computation of contact phase list

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• disable the python bindings for unicycle planner

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• move unicycle planner inputs to m_pimpl

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• add computation of first trajectories

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• fix generation of contact list

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• move some parmeters to m_pimpl

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• clean include statements

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• add merge points to the output of the advanceable

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• first skeleton of unicycle trajectory generator

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• Implement the logic of the unicycle trajectory.

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• add feet contact status outputs to unicycle planner

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• add steps infomation to the output of the unicycle planner

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• add default parameter values

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• add computation of contact phase lists

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• add default parameters

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• remove old code

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• do not use unique pointer for data member unycyclePlanner

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• add unicycle trajectory generator to Unicycle library

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• add first trajectories for unicycle generator

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• add mutexes and fix segmentation fault

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• measure async thread spawn time

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• remove debug prints and debug code

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• add smoke test for unicycle planner

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• add smoke test for unicycle trajectory generator

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• fix bug: missing negation of a boolean

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• improve computation of contact phase lists

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• drop steps when completed

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• fix missing currect contact phase

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• fix unrolling of steps deque

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• polishing printed messages

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• add example for unicycle trajectory generator

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• change simulation time

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• add CoM planar trajectory generation

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• add initialization of com system for planar trajectory

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• join together the CoM planar and height trajectory

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• remove step phases from output

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Commits on May 3, 2024

• replace idyntree::transform with manif::SE3d

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• add missing library for compilation

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• polish the include statements

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• edit file description

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• Merge branch 'enhance/uniCyclePlanner' into feature/BLFunicyclePlanner

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• prepare PR for unicycle planner

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• remove python bindings for unicycle planner

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Commits on May 6, 2024

• fix unit test dependencies

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• remove trailing whitespace and update changelog.md

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• fix dependecies to compile

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• fix dependecies to compile

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• fix dependecies to compile

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• renaming from UnicyclePlanner to UnicycleTrajectoryPlanner

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• update unicycle-footstep-planner version for CI

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• add link to YARP_OS library

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Commits on May 7, 2024

• pass iDynTree Model as input argument, instead of loading urdf model from YARP resource finder

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• remove trailing whitespaces

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• add brief description of UnicycleTrajectoryPlanner

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Commits on May 8, 2024

• polish includes, variable names, comments, and eigen block operations

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• Apply suggestions from code review

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• use std::chrono for time

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Commits on May 15, 2024

• fix loading of sample time and planner horizon parameters

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• remove ContactPhaseList from unycycle planner outputs

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• move the getContactList utility to a separated file

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Commits on May 16, 2024

• avoid to load and store robot model

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• remove trail whitespace and remove building of ResolveRoboticsURICpp tests

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• update tag of ResolveRoboticsURICpp to 0.0.2

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• remove usage of ResolveRoboticsURICpp

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Commits on May 17, 2024

• avoid recreating vectors

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• prepare PR for unicycle trajectory generator

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• fix dependencies of unit test

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• update changelog.md

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• add command line option to save results file

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• remove trailing whitespaces

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• rename from UnicyclePlanner to UnicycleTrajectoryPlanner

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• pass iDynTree Model as input argument, instead of loading it through Yarp Resource Finder

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• remove trailing whitespace

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• use std::chrono

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• polish includes, comments, variable names

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• add brief description of the class

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• fix after moving getContactList utility in another file

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• remove robot model by setting the contact frames indexes

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• minor changes to include statements and logging

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• fix loading of dt and plannerAdvanceTimeInS config parameters

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• move utilities to another file

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• reduce the number of vectors being regenerated at each iteration

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• renaming and adding comments

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Commits on May 23, 2024

• add feet cubic spline generator

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Commits on May 29, 2024

• apply Giulio's reviews

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• prepare PR for unicycle trajectory generator

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• fix dependencies of unit test

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• update changelog.md

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• add command line option to save results file

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• remove trailing whitespaces

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• rename from UnicyclePlanner to UnicycleTrajectoryPlanner

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• pass iDynTree Model as input argument, instead of loading it through Yarp Resource Finder

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• remove trailing whitespace

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• use std::chrono

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• polish includes, comments, variable names

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• add brief description of the class

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• fix after moving getContactList utility in another file

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• remove robot model by setting the contact frames indexes

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• minor changes to include statements and logging

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• fix loading of dt and plannerAdvanceTimeInS config parameters

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• move utilities to another file

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• reduce the number of vectors being regenerated at each iteration

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• renaming and adding comments

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• use blf logging instead of std one

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Commits on May 30, 2024

• add feet trajectory generation

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Commits on May 31, 2024

• fix merge of steps from current and new trajectories

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• remove not necessary inputs

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• add member function to return the sampling time of the planner

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Commits on Jun 20, 2024

• Merge branch 'master' into feature/unicycleTrajectoryGenerator

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Commits on Jun 21, 2024

• polish import statements

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Commits on Jun 27, 2024

• Apply suggestions from code review

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• apply suggestion

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• improve resetting of contact list

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• removing saving to txt file from unit tests

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• use lambda function to step trajectories

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Commits on Jul 1, 2024

• use RAII paradigm to lock mutex

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