feat(plate-balancing) : Support plate-balancing example in dairlib

[Meow404]

Fixes : #11
Support for : DAIRLab/dairlib#376

• Waiting on feat(lcs-factory-system) : Add lcs factory system to C3 repo with examples #9 to be merged
• Waiting on build(c3): Update version for drake and bazel #14 to be merged (soft requirement : to make updates for new drake and bazel version)

This change is 

[xuanhien070594]

core/configs/solve_options_default.hpp line 3 at r1 (raw file):

#pragma once
#include <string>
const std::string default_solver_options =

I'm confused about why we use yaml string here instead of normal yaml.

[xuanhien070594]

systems/publishers/output_publisher.h line 46 at r1 (raw file):

              c3::lcmt_output* output) const;

  //  void OutputNextC3Input(const drake::systems::Context<double>& context,

Pls remove commented codes.

[xuanhien070594]

systems/publishers/force_publisher.h line 16 at r1 (raw file):

namespace systems {
namespace publishers {
class ContactForcePublisher : public drake::systems::LeafSystem<double> {

Missing documentation

[xuanhien070594]

systems/publishers/force_publisher.cc line 16 at r1 (raw file):

namespace systems {
namespace publishers {
ContactForcePublisher::ContactForcePublisher() {

We'll need some documentation for input ports and output ports.

[xuanhien070594]

systems/publishers/output_publisher.h line 17 at r2 (raw file):

namespace publishers {
/// Converts a OutputVector object to LCM type lcmt_robot_output
class C3OutputPublisher : public drake::systems::LeafSystem<double> {

Pls add documentation.

[xuanhien070594]

systems/publishers/force_publisher.cc line 46 at r2 (raw file):

  MatrixXd J_c = contact_info->first;
  int contact_force_start = solution->lambda_sol_.rows() - J_c.rows();
  bool using_stewart_and_trinkle_model = contact_force_start > 0;

Using the difference in dimension of lambda and number of force basis to determine the contact model is generally not a safe way. Could we store the type of contact model in the C3Solution?

[Meow404]

FYI, building with different drake versions doesnt seem to be an issue so far between dairlib and c3.

[Meow404]

Reviewable status: 0 of 19 files reviewed, 6 unresolved discussions (waiting on @xuanhien070594)

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systems/publishers/force_publisher.h line 16 at r1 (raw file):

Previously, xuanhien070594 (Hien Bui) wrote…

Missing documentation

Done.

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systems/publishers/force_publisher.cc line 16 at r1 (raw file):

Previously, xuanhien070594 (Hien Bui) wrote…

We'll need some documentation for input ports and output ports.

Done.

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systems/publishers/output_publisher.h line 46 at r1 (raw file):

Previously, xuanhien070594 (Hien Bui) wrote…

Pls remove commented codes.

Done.

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systems/publishers/output_publisher.h line 17 at r2 (raw file):

Previously, xuanhien070594 (Hien Bui) wrote…

Pls add documentation.

Done.

[xuanhien070594]

lcmtypes/lcmt_forces.lcm line 1 at r3 (raw file):

package c3;

Should the name be lcmt_contact_forces.lcm?