Changes for CI

Author: LudovicaDanovaro

src/IK/include/BiomechanicalAnalysis/IK/InverseKinematics.h

@@ -186,7 +186,7 @@ class HumanIK
     {
         std::shared_ptr<BipedalLocomotion::IK::R3Task> task;
         Eigen::Vector3d weight;
-        int nodeNumber;
+        int taskNumber;
         bool footInContact{false};
         Eigen::Vector3d setPointPosition;
         std::string taskName;
@@ -283,7 +283,7 @@ class HumanIK
      * |:-----------:|:------------------------------:|:----------:|:--------------------------------------------------------------------------------------------:|:---------:|
      * |`FloorContactTask`|           `type`               |  `string`  |                       Type of the task. The value to be set is `FloorContactTask`       |  Yes  |
      * |`FloorContactTask`| `robot_velocity_variable_name` |  `string`  |Name of the variable contained in `VariablesHandler` describing the generalized robot velocity|  Yes  |
-     * |`FloorContactTask`|         `node_number`          |   `int`    |                  Node number of the task. The node number must be unique.               |  Yes  |
+     * |`FloorContactTask`|         `floor_contact_task`   |   `int`    |                  Node number of the task. The node number must be unique.               |  Yes  |
      * |`FloorContactTask`|          `kp_linear`           |  `double`  |                          Gain of the distance controller                                |  Yes  |
      * |`FloorContactTask`|         `frame_name`           |  `string`  |                 Name of the frame to which apply the floor contact task                 |  Yes  |
      * |`FloorContactTask`|   `vertical_force_threshold`   |  `double`  |                 Threshold of the vertical force to consider the foot in contact         |  Yes  |

src/IK/tests/configTestIK.toml

@@ -102,7 +102,7 @@ type = "FloorContactTask"
 robot_velocity_variable_name = "robot_velocity"
 frame_name = "link10"
 kp_linear = 1.0
-node_number = 10
+floor_contact_task = 10
 weight = [10.0, 10.0, 10.0]
 vertical_force_threshold = 60.0
 

src/examples/IK/exampleIK.ini

@@ -136,7 +136,7 @@ type                            "FloorContactTask"
 robot_velocity_variable_name    "robot_velocity"
 frame_name                      "RightToe"
 kp_linear                       60.0
-node_number                     2
+floor_contact_task              21
 weight                          (1.0 1.0 1.0)
 vertical_force_threshold        60.0
 
@@ -145,7 +145,7 @@ type                            "FloorContactTask"
 robot_velocity_variable_name    "robot_velocity"
 frame_name                      "LeftToe"
 kp_linear                       60.0
-node_number                     1
+floor_contact_task              11
 weight                          (1.0 1.0 1.0)
 vertical_force_threshold        60.0