Refactor trajectory control and introduce impedance controller (backport #78)#79
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mergify[bot] wants to merge 1 commit intojazzyfrom
Open
Refactor trajectory control and introduce impedance controller (backport #78)#79mergify[bot] wants to merge 1 commit intojazzyfrom
mergify[bot] wants to merge 1 commit intojazzyfrom
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* start moving trajectory controller and setup pd tracking controller * continue migration * refactor and made initial pass at pd controller * compile and cleanup * testing * what * confused * maybe * maybe * maybe * maybe * maybe * maybe * cleanup? * cleanup? * test * test * revert for now * resolve upstream deprecations * bump version (cherry picked from commit 20f768d)
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Changes Made
end_effector_trajectory_controllerto be a high-leveltrajectory_controllerspackage and renames the actual controller to becartesian_trajectory_controller.Associated Issues
Testing
Testing was done using the demos.
This is an automatic backport of pull request #78 done by [Mergify](https://mergify.com).