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Implement Set-Based TPIK and perform initial cleanup #17

Merged
merged 34 commits into from
Aug 2, 2023
Merged

Implement Set-Based TPIK and perform initial cleanup #17

merged 34 commits into from
Aug 2, 2023

Commits on Jul 17, 2023

  1. started jacobian implementation

    @evan-palmer
    evan-palmer committed Jul 17, 2023
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Commits on Jul 18, 2023

  1. Implemented jacobians for primary tasks

    @evan-palmer
    evan-palmer committed Jul 18, 2023
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Commits on Jul 19, 2023

  1. finished (untested) initial version of jacobian implementation

    @evan-palmer
    evan-palmer committed Jul 19, 2023
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  2. Saving DH param stuff before I delete in case of revert

    @evan-palmer
    evan-palmer committed Jul 19, 2023
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  3. One more dh save

    @evan-palmer
    evan-palmer committed Jul 19, 2023
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Commits on Jul 20, 2023

  1. Finished initial untested jacobians and started constraint implementa… 

    …tion
    @evan-palmer
    evan-palmer committed Jul 20, 2023
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Commits on Jul 21, 2023

  1. go crazy

    @evan-palmer
    evan-palmer committed Jul 21, 2023
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  2. Finished jacobian unit tests

    @evan-palmer
    evan-palmer committed Jul 21, 2023
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Commits on Jul 22, 2023

  1. Cleaned up jacobian implementation in favor of tasks

    @evan-palmer
    evan-palmer committed Jul 22, 2023
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Commits on Jul 23, 2023

  1. Went back on task object idea

    @evan-palmer
    evan-palmer committed Jul 23, 2023
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Commits on Jul 24, 2023

  1. started controller

    @evan-palmer
    evan-palmer committed Jul 24, 2023
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  2. Save point before I go back to task classes... again

    @evan-palmer
    evan-palmer committed Jul 24, 2023
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  3. Improved task interface

    @evan-palmer
    evan-palmer committed Jul 24, 2023
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Commits on Jul 25, 2023

  1. Implemented base tpik

    @evan-palmer
    evan-palmer committed Jul 25, 2023
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Commits on Jul 26, 2023

  1. Implemented hierarchy and modes

    @evan-palmer
    evan-palmer committed Jul 26, 2023
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  2. Finished initial implementation of set based tpik

    @evan-palmer
    evan-palmer committed Jul 26, 2023
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  3. Wrote hierarchy unit tests and started debugging

    @evan-palmer
    evan-palmer committed Jul 26, 2023
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Commits on Jul 27, 2023

  1. Fixed set tasks

    @evan-palmer
    evan-palmer committed Jul 27, 2023
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  2. Fixed axis d bug, resolved solution selection bug, and added nvidia d… 

    …river support
    @evan-palmer
    evan-palmer committed Jul 27, 2023
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  3. Added nominal configuration task

    @evan-palmer
    evan-palmer committed Jul 27, 2023
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Commits on Jul 28, 2023

  1. Fixed devcontainer and most of end effector tracking

    @evan-palmer
    evan-palmer committed Jul 28, 2023
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  2. Debugging uvms position jacobian

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    evan-palmer committed Jul 28, 2023
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Commits on Jul 29, 2023

  1. WHY WONT THE POSITION JACOBIAN WORK FOR THE LOVE OF GOD

    @evan-palmer
    evan-palmer committed Jul 29, 2023
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  2. i believe in a world free from the curse of singularities

    @evan-palmer
    evan-palmer committed Jul 29, 2023
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Commits on Jul 30, 2023

  1. wip: started cleanup

    @evan-palmer
    evan-palmer committed Jul 30, 2023
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  2. wip: removed angler msgs

    @evan-palmer
    evan-palmer committed Jul 30, 2023
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Commits on Jul 31, 2023

  1. wip: fixed waypoint planner

    @evan-palmer
    evan-palmer committed Jul 31, 2023
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  2. wip: redid the description package and launch file

    @evan-palmer
    evan-palmer committed Jul 31, 2023
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Commits on Aug 1, 2023

  1. More bug fixes from cleanup

    @evan-palmer
    evan-palmer committed Aug 1, 2023
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Commits on Aug 2, 2023

  1. Finished initial cleanup and tpik implementation

    @evan-palmer
    evan-palmer committed Aug 2, 2023
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  2. Cleaned up readme

    @evan-palmer
    evan-palmer committed Aug 2, 2023
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  3. Readme changes

    @evan-palmer
    evan-palmer committed Aug 2, 2023
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  4. More readme stuff

    @evan-palmer
    evan-palmer committed Aug 2, 2023
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  5. Fixed precommit and added iron to ci

    @evan-palmer
    evan-palmer committed Aug 2, 2023
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