Code

[WIP]Feature/wbcc separate thread#380

Code

Open

Beomyeong wants to merge 68 commits intodevelopihmcrobotics/ihmc-open-robotics-software:developfrom feature/wbcc-separate-threadihmcrobotics/ihmc-open-robotics-software:feature/wbcc-separate-threadCopy head branch name to clipboard

+2,205-237

Commits

Commits on Aug 31, 2024

• Preparing and starting to separate the wholeBodyControllerCore from controlThread to wholebodycontrollerThread

  Beomyeong

  committed
  75bff32

• Still work in progress on separating wbccThread

  Beomyeong

  committed
  3a8b147

Commits on Sep 3, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  8483b0d

Commits on Sep 12, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  8f1d236

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  cf89710

• Adding some TODO List

  Beomyeong

  committed
  e27e0c6

Commits on Sep 13, 2024

• Adding boolean parameter to check whether the wbccThread runs

  Beomyeong

  committed
  6e4d0dc

• Trying to adding wbccThread even don't include anything.

  Show description for f5085e4
  Beomyeong

  committed
  f5085e4

Commits on Sep 19, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  43a4147

Commits on Sep 20, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  ca4eff6

• Adding empty wholeBodyControllerCoreThread.

  Show description for 82aa1fb
  Beomyeong

  committed
  82aa1fb

Commits on Sep 30, 2024

• Adding wbccJointDesiredOutputList into contextDataFactory

  Beomyeong

  committed
  21ac3ba

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  1811eca

• Working on the moving the joint update from ControllerThread to WholeBodyControllerCoreThread

  Beomyeong

  committed
  9a78482

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  2326d70

Commits on Oct 1, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  8281cf9

• Fighting with making a new "wholeBodyControllerCoreThread".

  Beomyeong

  committed
  19a3e8d

• Fighting with making a new "wholeBodyControllerCoreThread".

  Beomyeong

  committed
  bfc9026

Commits on Oct 2, 2024

• Fighting with making a new "wholeBodyControllerCoreThread".

  Beomyeong

  committed
  27e3520

• Adding a new Thread of "WholeBodyControllerCoreThread".

  Show description for da13fdb
  Beomyeong

  committed
  da13fdb

Commits on Oct 3, 2024

• minor working on

  Beomyeong

  committed
  5c62049

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  8cbb6d1

• Adding the ControllerCoreOutputDataHolder for sharing the result of the wholebody controllercore between the wholebodycontrollercore thread and controllerThread.

  Beomyeong

  committed
  a5a1134

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  bb1f194

Commits on Oct 4, 2024

• Adding a humanoidRobotContextDataHolder into HumanoidRobotContextData class.

  Beomyeong

  committed
  78db979

• Minor update for constructing humanoidRobotContextData.

  Beomyeong

  committed
  16f72b8

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  9ede091

• Adding controllerCoreDataHolder into constructors.

  Beomyeong

  committed
  2d358a7

Commits on Oct 6, 2024

• Adding the method of returning wholebodycontrollercore to every state.

  Show description for 241868d
  Beomyeong

  committed
  241868d

Commits on Oct 7, 2024

• Changing the type of calling controllercoreoutput method

  Beomyeong

  committed
  6a7d58b

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  46be899

• Adding updating locatcontext from controllertask

  Beomyeong

  committed
  cd09c26

• Fixing minor error.

  Beomyeong

  committed
  124ca0a

• Still being fixed.

  Show description for 284804a
  Beomyeong

  committed
  284804a

Commits on Oct 8, 2024

• The desiredJointvalues are submitted through the controllerCoreOutputDataHolder.

  Beomyeong

  committed
  4673b98

• Adding ControllerCoreCommand into contextData class

  Beomyeong

  committed
  aea025c

• Fixing the calling controllercorecommand type in the contextdata class

  Beomyeong

  committed
  47b9969

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  15f1056

Commits on Oct 9, 2024

• Adding the ControllerCoreCommandDataHolder into the HumanoidRobotContext and related classes.

  Beomyeong

  committed
  6216748

• Fixing minor error in javadoc

  Beomyeong

  committed
  23ad689

• Adding writing controllerCoreCommand into ControllerCoreCommandDataHolder

  Beomyeong

  committed
  8313250

• Adding the controllerCoreCommandDataHolder as an input for wholeBodyControllerCoreThread.

  Beomyeong

  committed
  9ec3ccf

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  45531bf

Commits on Oct 16, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  683965b

Commits on Oct 17, 2024

• Adding the several values for the constructor of HumanoidWholeBodyControllerCoreManager.

  Show description for 89c34ed
  Beomyeong

  committed
  89c34ed

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  54b06bd

Commits on Oct 18, 2024

• Start to write the controllerCoreToolboxDataHolder

  Beomyeong

  committed
  7b61c58

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  c1c1746

Commits on Oct 21, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  ac00db2

• Adding the getControllerCore method into HighLevelControllerState and its implementations

  Beomyeong

  committed
  a12c472

• Adding the getControllerCore method into HighLevelControllerState and its implementations

  Beomyeong

  committed
  81fc3ad

• Adding notes to do work.

  Show description for 6fada6e
  Beomyeong

  committed
  6fada6e

Commits on Oct 22, 2024

• Still working on

  Beomyeong

  committed
  15680f2

• Adding exceptional case to set the controllerCoreMode to be InverseDynamics. At the first tick, the commandDataHolder is null.

  Beomyeong

  committed
  60fdaae

• ControllerCore is constructed in the WholeBodyControllerCoreThread.

  Show description for 9c9534c
  Beomyeong

  committed
  9c9534c

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  9cff310

Commits on Oct 23, 2024

• Adding the resolveControllerCoreOutputDataHolder into resolveHumanoidRobotContextDataWholeBodyControllerCore. This lets the ControllerCoreOutput from wholebodycontrollercoreThread be shared to cont…

  Show description for 6493631
  Beomyeong

  committed
  6493631

• Fixing typo for ControllerCoreOutputDataHolder

  Beomyeong

  committed
  3a72b52

Commits on Oct 25, 2024

• Working on sending controllerCoreOutput from wholebodycontrollerthread to controlThread.

  Beomyeong

  committed
  900b133

• ControllerCoreOutput from the ControllerCoreThread is used for update the ResolveMomentumRateModule in the ControlThread

  Beomyeong

  committed
  4a0ff8f

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  c904021

• WholeBodyControllerCore does not run on the walkingcontrollerState in ControlThread

  Beomyeong

  committed
  19ce72b

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  a2eff55

Commits on Nov 18, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  8efeabe

Commits on Nov 26, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  35b5dfe

Commits on Dec 4, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  bab0825

• Adding recording wbcc computation time

  Beomyeong

  committed
  abb9af4

Commits on Dec 11, 2024

• Merge branch 'develop' into feature/wbcc-separate-thread

  Beomyeong

  committed
  c6841b6