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Add implementation for friction parameters #2805

Merged
merged 12 commits into from
Mar 7, 2022
Merged

Add implementation for friction parameters #2805

merged 12 commits into from
Mar 7, 2022

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sgiraz
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@sgiraz sgiraz commented Feb 17, 2022 •
edited by pattacini
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What's new in this PR:

  • In ITorqueControl.h have been added 4 new friction parameters: viscousUp, viscousDown, coulombUp, coulombDown.
  • the definitions of all the get/set functions have been updated accordingly.
  • A new ControlTorqueTest source has been added to the test folder in order to validate the implementation of the new parameters

Notes:

  • The implementation has been tested successfully with the new test provided with this PR.

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update-docs bot commented Feb 17, 2022

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update the release notes by adding a file in doc/release/<target_branch>, based on your changes.

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randaz81
randaz81 requested changes Feb 18, 2022
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  • measurement units conversion layer (missing in ImplementTorqueControl.cpp) to be implemented and tested
  • changelog (missing)

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sgiraz commented Feb 21, 2022 •
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  • measurement units conversion layer (missing in ImplementTorqueControl.cpp) to be implemented and tested
  • changelog (missing)

Done! During the tests, I verified that the conversion for each new parameter is performed correctly.

cc @randaz81

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Hi @randaz81

Can we merge the PR? It's kind of blocking all the other PR's we have in the pipeline.

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randaz81 commented Mar 7, 2022

Merged even if there are some errors in the CI, that should be hopefully fixed by #2811

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PR ok, some errors in the CI

@randaz81 randaz81 merged commit 6c37471 into robotology:master Mar 7, 2022
@pattacini pattacini mentioned this pull request Mar 7, 2022
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@randaz81 randaz81 added Component: Library - YARP_dev Component: Devices PR Type: Feat/Enh This PR adds some new feature or enhances some part of YARP labels Mar 11, 2022
@PeterBowman PeterBowman mentioned this pull request Mar 14, 2022
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@randaz81 randaz81 added this to the YARP 3.7.0 milestone Apr 21, 2022
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@randaz81 randaz81 randaz81 approved these changes

@drdanz drdanz Awaiting requested review from drdanz

@traversaro traversaro Awaiting requested review from traversaro traversaro is a code owner

@Nicogene Nicogene Awaiting requested review from Nicogene Nicogene is a code owner

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Component: Devices Component: Library - YARP_dev PR Type: Feat/Enh This PR adds some new feature or enhances some part of YARP Target: YARP v3.7.0
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