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Merge humble onto humble-devel#66

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MaximilienNaveau merged 198 commits intoloco-3d:humbleloco-3d/linear-feedback-controller:humblefrom MaximilienNaveau:topic/mnaveau/rebase-humble-onto-humble-develMaximilienNaveau/linear-feedback-controller:topic/mnaveau/rebase-humble-onto-humble-develCopy head branch name to clipboardFeb 11, 2025

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• [lfc] Refactor some names

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• [lfc] Refactor in order to take ControllerParameters as test param

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• [lfc] Fix missing FailsToLoad() call

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• [lfc] Add valid SetInitialState tests

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• [lfc] Rename SizeMismatchInternal to SizeMismatch

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• [lfc] Add Nan test to set_initial_state

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• [lfc] Rename Loads -> Load + Add tempalte ComputeControl

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• [utils] Remove useless static assert from mutation

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• [lfc] Disable SetInitialStateSpecialDouble test

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• [lfc] Add additional expectations in SetInitialState

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• [lfc] Add RMB ptr expectations on Load* tests

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• [lfc] Refactor DoNot predicate into utils/core

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• [pd_controller] Refactor the expected computation of compute_control

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• [pd_controller] Rename Expected* function

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• [lfc] Rename SizeMismatch PRED

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• [pd_controller] Force the Eigen type return by ExpectedPD* function

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• [pd_controller] Fix missing function rename

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• [lfc] Implements ComputeControl test (still miss gravitation stuff)

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• [lfc] Update ComputeControl test with weighted computation

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• [lfc] Minor update on the ComputeControl test

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• [lfc] Alias the time_point and use the clock from it

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• [lfc] Update LoadSizeMismatch test

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• [lfc] Rename transition to pd_timeout

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• [lfc] Remove core.hpp

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• [utils] Reorder the ExpectedLFController* function args

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• [lfc] Use 5e-6 as double comparison espilon

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• [lfc] Add doc to the functions used to create the predicates

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• [lfc] Rename ComputeControl to ComputeControlWithoutGravity

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• [utils] Refactor MakePairOfNamesFrom as factory of JointNamesPair

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• [lfc] Move define on top of the file

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• [lfc] Use TimePoint directly

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• [lfc] Add templates for the missing tests

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• [lfc] Refactor all test data construction

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• [lfc] Remove wrong input ComputeControl tests

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• [lfc] Merge With/Without GRavity stuff into ComputeControl

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• [lfc] Update gravity_compensation SCOPE_TRACE format

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• [lfc] Remove PRED stuff (easier to understand for reviewers)

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• [utils] Use vector ctor directly instead of .resize() call

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• [utils] Remove FIXME - Confirmed used of controlled joints for gains

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• [utils] Use const within range-for loop

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• [lfc] Rename wrong variable name to be more explicits

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• [lfc] Remove side effect checks for SetInitialState

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• [lfc] Use random number when appending to vectors

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• Merge pull request loco-3d#49 from ArthurVal/add/linear_feedback_controller_unittests

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• Merge remote-tracking branch 'origin/humble' into humble-devel

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