I was looking into iTasc code for the ways to integrate new dynamics solver. I looked at the current implementation of scene, wdls_solver and other itasc components and
have some questions.
1) In Scene and Solver there are Wq and Wy weighing matrices. How are their values chosen?
As I know Wy is a diagonal matrix containing values related to subtask priorities? and Wq comes from pr2robot but what about their values?
are they all user defined?
2) is control around ydot taking place in Solver? why not ConstraintController? That is what it is done is wdls_solver, or?
3) What is the purpose of Priority struct? Does it contain subtask specific A, Wy, ydot? These are then calculated in calculateA of the Scene for each loop/subtask generating vector of As,Wys ydots for
each VKC? There are two such structs one solver side and one scene side, but they differ a little. Are priorities updated according to p = I - AA_pseudoinverse?
4) Did I understand this correctly that the solver takes these As, Wys and ydots based on their priorities and generates a set of qDots for the robot (so sequentially satisfying each subtask depending on the number of degrees allocated for each of them?)
Thanks in advance.