Clean code of stopwatch class to prepare it to be moved to an external repository.
- implement nonstreaming message in Logger::sendMsg
- change gravity acceleration from 9.8 to 9.81
- add integration of constrained dynamics to bypass simulator (see param “integrate EoM”, “integrator dt”, “integrator damp”)
- split param “num damp” into 3 params: “dyn damp”, “constr damp” and “task damp”, because I realized that the numerical damping to use for resolving tasks, constraints and dynamics have to be different
- split wholeBodyReachConstant.h into 3 files: Constants.h, Params.h and Utils.h
- temporarily remove synchronization between controller and simulator
- fix bug in solver: the term dJc*dq had a minus in front!
- fix bug in integrator: integrator time step was not used by the thread (it was using the hard-coded time step, i.e. 1 ms)
- add variable _ddq_first_call to constrainedDynamicsIntegrator for checking that forward dynamics is consistent with solver
Change numerical damping used in “CoM+posture” controller: use dynamic’s damping for pseudo inverse of matrix containing both dynamics and constraints; use task damping for postural task