v1.1.0 - Torque Control

✨ New Features

A new SerialDynamicControl class. It's been tested with this package. The beauty of this is it has the exact same interface as the SerialVelocityControl class 😎.

💥 Breaking Changes

• The RobotLibrary::Control::Parameters struct has been changed to RobotLibrary::Control::SerialLinkParameters.
  • Changed field from CartesianStiffness to CartesianPoseGain
  • Changed field from CartesianDamping to CartesianVelocityGain

The latter 2 were renamed since the SerialDynamicControl class implements resolved acceleration control (RAC), and not Cartesian impedance control.

🐛 Bug Fixes

Fixed an issue with unwinding phenomenon in quaternion feedback.

📜 License Agreement

New dual license:

• Free to use and modify if you keep it free.
• You may use it for profit, as long as I make a tiny bit too 🤏

What's Changed

• Merging master to main by @Woolfrey in #144
• Torque control for robot arms by @Woolfrey in #145

Full Changelog: v1.0.0...v1.1.0