Dev/v1.1.0#41
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* integrating matlab generated estimators and new state variables
…ware into dev/v1.1.0
…ware into dev/v1.1.0
KrishKittur
approved these changes
Jun 4, 2025
| @@ -0,0 +1,15 @@ | |||
| g{ | |||
| auto cmd = simple_controller.step_controller(in); | ||
| auto res = std::get_if<core::TorqueControlOut>(&cmd.out); | ||
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| ASSERT_NEAR(res->desired_torques_nm.FR, 4.48, 1.0); |
| template <typename T> | ||
| float linear_approx(T x_val, T scale, T offset) | ||
| { | ||
| return ((static_cast<float>(x_val) * static_cast<float>(scale)) + (static_cast<float>(offset))); |
Collaborator
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only one of these should need to be static casted
| #include <Utils.hpp> | ||
| namespace math | ||
| { | ||
| template <typename T> |
Collaborator
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could just not make this generic if numbers are gonna be casted to floats anyway
…an message for vn status to be recvd by dashboard
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release description
closes #38