minimum and maximum torque modeling as input in the specs file

[Robert Katzschmann]

the current implementation does not allow to specify the minimum and maximum torque for each joint. A decent approach would be to allow the following specification:

Model: torqueMin = minimumTorque + qd * torqueChangeLinear + qd^2 * torqueChangequadratic torqueMax = maximumTorque + qd * torqueChangeLinear + qd^2 * torqueChangequadratic

Addition to the Spec File for each link: <minimumTorque> -70.0 </minimumTorque> <!--Unit: Nm--> <maximumTorque> 70.0 </maximumTorque> <!--Unit: Nm--> <torqueChangeLinear> 3.0 </torqueChangeLinear> <!--Unit: Ns--> <torqueChangeQuadratic> 2.0 </torqueChangeQuadratic> <!--Unit: Ns^2-->

scl::SGcModel and the other dynamics data classes need to get the minimum and maximum torque as data members, so they can be looked up and used for controllers and planners.

[Samir Menon]

scl::SGcModel is the "dynamic" model in the generalized coordinates. It "only" contains information that is changing all the time.

What you are looking for is SRobotParsedData.

[Samir Menon]

Duplicate of #15.