v2.0.0 Impedance Control

[Woolfrey]

✨ New Features:

A new RobotLibrary::Control::SerialLinkImpedance control class. It is inertia-free free, since many robot manipulators have poor dynamic modeling (thanks, Kuka 😒). It can do basic joint and Cartesian stiffness, with automatic redundancy resolution.

💥 Breaking Changes

• The bool joint_position_gain field in the RobotLibrary::Control::SerialLinkParameters struct has been changed to std::vector<double> joint_position_gains
• The bool joint_velocity_gain field in the RobotLibrary::Control::SerialLinkParameters struct has been changed to std::vector<double> joint_velocity_gains
• The RobotLibrary::Control::SerialKinematicControl class has been renamed to RobotLibrary::Control::SerialLinkKinematics
• The RobotLibrary::Control::SerialDynamicControl class has been renamed to RobotLibrary::Control::SerialLinkDynamics

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This discussion was created from the release v2.0.0 Impedance Control.