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Using the root repo and used Crocoddyl v1.4.0 #3

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Using the root repo and used Crocoddyl v1.4.0 #3

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2 changes: 1 addition & 1 deletion .gitmodules
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[submodule "submodules/crocoddyl"]
path = submodules/crocoddyl
url = https://github.com/cmastalli/crocoddyl.git
url = https://github.com/loco-3d/crocoddyl.git
branch = topic/memmo-school
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This branch doesn't exist on the main repo. You could either choose master or devel, or put the v1.4.0 tag, or use a topic/memmo-school branch on the main repo.

[submodule "submodules/tsid"]
path = submodules/tsid
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2 changes: 1 addition & 1 deletion submodules/crocoddyl
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Submodule crocoddyl updated 83 files
+1 −1 .travis/check-formatting.sh
+5 −5 CMakeLists.txt
+11 −11 bindings/python/crocoddyl/__init__.py
+2 −2 bindings/python/crocoddyl/core/activations/quadratic-barrier.cpp
+0 −1 bindings/python/crocoddyl/core/actuation/actuation-squashing.cpp
+4 −6 bindings/python/crocoddyl/core/numdiff/diff-action.cpp
+2 −6 bindings/python/crocoddyl/core/optctrl/shooting.cpp
+1 −3 bindings/python/crocoddyl/core/solver-base.cpp
+1 −0 bindings/python/crocoddyl/core/state-base.cpp
+2 −8 bindings/python/crocoddyl/crocoddyl.cpp
+6 −8 bindings/python/crocoddyl/multibody/contacts/multiple-contacts.cpp
+10 −8 bindings/python/crocoddyl/multibody/costs/centroidal-momentum.cpp
+8 −3 bindings/python/crocoddyl/multibody/costs/com-position.cpp
+87 −0 bindings/python/crocoddyl/multibody/costs/contact-cop-position.cpp
+8 −4 bindings/python/crocoddyl/multibody/costs/contact-force.cpp
+1 −2 bindings/python/crocoddyl/multibody/costs/contact-friction-cone.cpp
+7 −4 bindings/python/crocoddyl/multibody/costs/contact-impulse.cpp
+8 −3 bindings/python/crocoddyl/multibody/costs/control.cpp
+4 −8 bindings/python/crocoddyl/multibody/costs/cost-sum.cpp
+8 −4 bindings/python/crocoddyl/multibody/costs/frame-placement.cpp
+8 −4 bindings/python/crocoddyl/multibody/costs/frame-rotation.cpp
+8 −4 bindings/python/crocoddyl/multibody/costs/frame-translation.cpp
+8 −4 bindings/python/crocoddyl/multibody/costs/frame-velocity.cpp
+1 −2 bindings/python/crocoddyl/multibody/costs/impulse-friction-cone.cpp
+7 −2 bindings/python/crocoddyl/multibody/costs/state.cpp
+20 −0 bindings/python/crocoddyl/multibody/frames.cpp
+6 −8 bindings/python/crocoddyl/multibody/impulses/multiple-impulses.cpp
+1 −0 bindings/python/crocoddyl/multibody/multibody.cpp
+1 −0 bindings/python/crocoddyl/multibody/multibody.hpp
+1 −1 bindings/python/crocoddyl/utils/__init__.py
+37 −0 bindings/python/crocoddyl/utils/deprecate.hpp
+86 −46 bindings/python/crocoddyl/utils/map-converter.hpp
+2 −2 bindings/python/crocoddyl/utils/quadruped.py
+82 −36 bindings/python/crocoddyl/utils/vector-converter.hpp
+1 −1 cmake
+3 −2 examples/notebooks/bipedal_walking.ipynb
+59 −8 examples/notebooks/cartpole_swing_up.ipynb
+22 −22 examples/notebooks/introduction_to_crocoddyl.ipynb
+33 −0 examples/notebooks/solutions/cartpole_analytical_derivatives.py
+2 −2 examples/notebooks/solutions/cartpole_dyn.py
+1 −0 examples/notebooks/solutions/cartpole_fxfu.py
+2 −2 examples/notebooks/whole_body_manipulation.ipynb
+9 −3 include/crocoddyl/core/activations/quadratic-barrier.hpp
+9 −3 include/crocoddyl/core/activations/weighted-quadratic-barrier.hpp
+30 −0 include/crocoddyl/core/utils/deprecate.hpp
+4 −0 include/crocoddyl/multibody/actions/free-fwddyn.hpp
+5 −5 include/crocoddyl/multibody/cost-base.hpp
+7 −5 include/crocoddyl/multibody/cost-base.hxx
+4 −3 include/crocoddyl/multibody/costs/centroidal-momentum.hpp
+1 −1 include/crocoddyl/multibody/costs/centroidal-momentum.hxx
+4 −3 include/crocoddyl/multibody/costs/com-position.hpp
+1 −1 include/crocoddyl/multibody/costs/com-position.hxx
+252 −0 include/crocoddyl/multibody/costs/contact-cop-position.hpp
+115 −0 include/crocoddyl/multibody/costs/contact-cop-position.hxx
+6 −14 include/crocoddyl/multibody/costs/contact-force.hpp
+1 −1 include/crocoddyl/multibody/costs/contact-force.hxx
+5 −4 include/crocoddyl/multibody/costs/contact-friction-cone.hpp
+1 −1 include/crocoddyl/multibody/costs/contact-friction-cone.hxx
+6 −14 include/crocoddyl/multibody/costs/contact-impulse.hpp
+1 −1 include/crocoddyl/multibody/costs/contact-impulse.hxx
+4 −3 include/crocoddyl/multibody/costs/control.hpp
+1 −1 include/crocoddyl/multibody/costs/control.hxx
+4 −3 include/crocoddyl/multibody/costs/frame-placement.hpp
+1 −1 include/crocoddyl/multibody/costs/frame-placement.hxx
+4 −3 include/crocoddyl/multibody/costs/frame-rotation.hpp
+1 −1 include/crocoddyl/multibody/costs/frame-rotation.hxx
+4 −3 include/crocoddyl/multibody/costs/frame-translation.hpp
+1 −1 include/crocoddyl/multibody/costs/frame-translation.hxx
+13 −5 include/crocoddyl/multibody/costs/frame-velocity.hpp
+1 −1 include/crocoddyl/multibody/costs/frame-velocity.hxx
+5 −4 include/crocoddyl/multibody/costs/impulse-friction-cone.hpp
+1 −1 include/crocoddyl/multibody/costs/impulse-friction-cone.hxx
+4 −3 include/crocoddyl/multibody/costs/state.hpp
+1 −1 include/crocoddyl/multibody/costs/state.hxx
+49 −0 include/crocoddyl/multibody/frames.hpp
+11 −0 include/crocoddyl/multibody/fwd.hpp
+1 −1 package.xml
+9 −0 src/multibody/costs/contact-cop-position.cpp
+1 −2 unittest/CMakeLists.txt
+1 −0 unittest/bindings/CMakeLists.txt
+57 −0 unittest/bindings/test_cop_cost.py
+2 −0 unittest/python/crocoddyl/integrated_action.py
+37 −1 unittest/test_codegen.cpp