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Created with Raphaël 2.2.021Mar20161514119872127Feb23Jan121130Nov242318175Oct426Sep20151413121187652131Aug3029262524232219181716121110985432129Jul2827262522212019181713121110876510Jun331May19171613103228Apr27222119126531MarProperly stop ros mpc servermain_solo12_control : fix try/except being too shallowupdate READMEcmake : add apple configFix up package.xmlController: rename attr "pd" to "task" (because TaskSpec)Params.cpp : fix ctor initialize orderROSMPCWrapper can be set synchronous or asynchronousParams.cpp : remove commented out functionwalk_parameters : add "task" nodepython : add converter from YAML::Node to python dictRemove lots of unused parametersParams: enable pickling !Slightly cleaner conversion between numpy and ros multi arraysFirst draft with ros workingParams: remove unused invkin parametersParams: remove OSQP parameters (unused)Params: make Kp_main, Kd_main into eigen vectorsocp_proxddp: minor fix (fddp and proxddp were switched around)Merge branch 'wjallet/ros-integration' into wjallet/direct-eigen-yamlWiP: Fix init and solve message problem for ROSfix performance issue when refactoringRebase fix + minor bug fixParams : shoulders, footsteps_init, footsteps_under_shoulders are VectorNSimplify ros messages typesSeparate AlgtrOCP in two class with variations + LINTSimplify Params and make wbmpc_wrapper_ros init properly through serviceShare params between 2 ros nodeRaw str saved in paramsParams can be created from file or from strParams: gait_vec is a VectorNi (Eigen::Vector<int>)Do not convert q_init from exposed std::vector type to numpy arrayParams : parse q_init, t_switch and v_switch directlyAdd header yaml-eigen.hpp parsing Eigen::Matrix<> typesAdd typedef for RowMatrix6N and expose to PythonRename problem_data.py to task_spec.pyocp: rename nondescript "pd" variable to "task" (for task spec)ocp: various changesocp_crocoddyl : start models should use starting_gait...ocp_crocoddyl : mark update_model as private