This repository has been archived by the owner on Nov 9, 2022. It is now read-only.
Major
- Preview control takes contact switches into account
- Updated target COM velocities to non-zero forward vectors (were: zero)
- CWCs now computed by cdd (unlike with SEPs, there is no stability issue here, and it is faster than PPL)
- New Simulation class emulating the control-loop clock and measuring run times for each sub-function
Technical
- Polar reduction is now guaranteed to output 2D vertices in counterclockwise order
- Now using the
Q0option in Qhull to avoid this painful bug - Proper computation of the distance-to-SEP-edge in the DS-to-SS guard condition
- Replaced all lazy computations (for CWCs and SEPs) by proactive pre-computation around contact switches
- Added margins behind/after start and end COM positions in trajectory tubes
Minor
- Updated GUI: draw SS and DS SEPs and cones simultaneously, with cones plotted near the world origin
- All drawings are implemented as "extra" (not counted in control loop) simulation processes