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Added tests for chains#351

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danbarla wants to merge 18 commits intomasterborglab/GTDynamics:masterfrom feature/chain_with_robot_testborglab/GTDynamics:feature/chain_with_robot_testCopy head branch name to clipboard

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Commits on Apr 29, 2022

• added tests for chain constraints

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• Merge branch 'master' into feature/chain_with_robot_test

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Commits on May 6, 2022

• changed chain order, adapted chain constraint

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Commits on May 11, 2022

• added ground contact point constraint

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• added regression comments

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Commits on Jun 21, 2022

• one leg comparison test added

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Commits on Jul 10, 2022

• added 4 legs standing robot comparison test

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• Merge branch 'master' into feature/chain_with_robot_test

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Commits on Jul 25, 2022

• chain graph class added

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Commits on Dec 26, 2022

• Added PoeConstraint3 and PoeEquality3 methods to Chain class. These methods calculate the end effector wrench for a massless leg using chain. Adapted ChainDynamicsGraph class and ChainInitializer.

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• fixed testChain for PoeEquality3 and example_a1_walking now runs an old graph and new graph

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• Merge branch 'master' into feature/chain_with_robot_test

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• small fix

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Commits on Mar 12, 2023

• added q-factors to ChainDynamicsGraph

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Commits on May 8, 2023

• small changes to simulation

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Commits on May 22, 2023

• Merge branch 'master' into feature/chain_with_robot_test

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Commits on May 29, 2023

• boost removals

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Commits on Jun 1, 2023

• Merge branch 'master' into feature/chain_with_robot_test

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