mathieu-celerier / minimum_jerk_controller

Controller in mc_rtc for testing minimum-jerk implementation

mc_rtc new FSM controller template

This project is a template for a new FSM controller project wihtin mc_rtc

It comes with:

• a CMake project that can build a controller in mc_rtc, the project can be put within mc_rtc source-tree for easier updates
• clang-format files
• automated GitHub Actions builds on three major platforms

Quick start

1. Renaming the controller from MinimumJerkController to MinimumJerkController. In a shell (Git Bash on Windows, replace sed with gsed on macOS):

sed -i -e's/MinimumJerkController/MinimumJerkController/g' `find . -type f`
git mv src/MinimumJerkController.cpp src/MinimumJerkController.cpp
git mv src/MinimumJerkController.h src/MinimumJerkController.h
git mv src/states/MinimumJerkController_Initial.cpp src/states/MinimumJerkController_Initial.cpp
git mv src/states/MinimumJerkController_Initial.h src/states/MinimumJerkController_Initial.h
git mv etc/MinimumJerkController.in.yaml etc/MinimumJerkController.in.yaml

2. You can customize the project name in vcpkg.json as well, note that this must follow vcpkg manifest rules

3. Build and install the project

4. Run using your mc_rtc interface of choice, and setting Enabled to MinimumJerkController