Add a first shell of the agimus_controller API #97
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MaximilienNaveau
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krishADUG
kzorina
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great work @MaximilienNaveau thank you for this! I put my comments, that are mostly questions (sorry for this) and some suggestions concerning collision avoidance
agimus_controller/agimus_controller/robot_model_factory/obstacle_params_parser.py
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ArthurH91
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MaximilienNaveau
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I believe we just need to get clear on the warm start API. Just to be clear I do not run the code so when we will add unit-test this code might simply break due to typos in the python standard. |
MaximilienNaveau
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Now it's done in principle 👍 |
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This is a first trial and discussion room about the agimus_controller new API.
We want to have a generic implementation that can cover most usage of the OCP/MPC/WarmStart combinations.
The design pattern is this one.