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Add velocity feedforward term to velocity HardwareInterfaceAdapter #227

Merged
merged 8 commits into from
Dec 24, 2017
Merged

Add velocity feedforward term to velocity HardwareInterfaceAdapter #227

merged 8 commits into from
Dec 24, 2017

Commits on Nov 21, 2017

  1. Add velocity feedforward term to HardwareInterfaceAdapter for velocit… 

    …y_controllers::JointTrajectoryController.
    @miguelprada
    miguelprada committed Nov 21, 2017
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  2. Add parameter to control velocity feedforward term.

    @miguelprada
    miguelprada committed Nov 21, 2017
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  3. Add tests for use_velocity_ff.

    @miguelprada
    miguelprada committed Nov 21, 2017
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  4. Fix inconsistency.

    @miguelprada
    miguelprada committed Nov 21, 2017
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  5. Make velocity feedforward a 'double' param, instead of bool, and use … 

    …it for the

EffortJointInterface as well.
    @miguelprada
    miguelprada committed Nov 21, 2017
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Commits on Dec 18, 2017

  1. Refactor common code into common base class 

    Most code in Velocity and EffortJointInterface specializations of
HardwareInterfaceAdapter was shared and has been refactored into a common
base class.
    @miguelprada
    miguelprada committed Dec 18, 2017
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  2. Avoid building velocity interface-specific tests for position test ex… 

    …ecutable
    @miguelprada
    miguelprada committed Dec 18, 2017
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  3. Properly handle TEST_VELOCITY_FF=0 case in conditional build

    @miguelprada
    miguelprada committed Dec 18, 2017
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