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[DoNotMerge] Twist controller extensions #121

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wants to merge 12 commits into from
Closed

[DoNotMerge] Twist controller extensions #121

wants to merge 12 commits into from

Commits on Dec 14, 2016

  1. Implemented moveit based distance computation

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  2. Work in progress: verify if the nearest_point_frame_vector is equal t… 

    …o the old vector
    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  3. First implementation of CA with base_active

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  4. Added a new constraint to avoid singular regions (Still work in proge… 

    …ss).. we might change this one to maximize the manipulability rate to find a better value for the damping_gain which we introduced to the pseudo inverse calculations. The main change in the code is the additional constriant.
    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  5. Removed obsolete arguments

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  6. Deleted obsolete blank spaces and variables.

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  7. removed unreleased orocos files

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  8. remove unused constriant

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  9. few changes from the pull request

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  10. removed JSA leftovers

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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  11. Added new concept for jointlimit avoidance

    @MaChristoph @fmessmer
    MaChristoph authored and fmessmer committed Dec 14, 2016
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Commits on Dec 15, 2016

  1. minor formal review

    @fmessmer
    fmessmer committed Dec 15, 2016
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