Fixes to base estimator squashed in one single commit. #805
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G-Cervettini
requested review from
GiulioRomualdi and
S-Dafarra
as code owners
GiulioRomualdi
requested changes
Feb 9, 2024
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| // YARP | ||
| #include <yarp/sig/Vector.h> | ||
| #include <yarp/os/BufferedPort.h> | ||
| #include <yarp/os/Network.h> |
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This dependency shouldn't be there.
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| bool m_isModelSet{false}; | ||
| bool m_isInitialized{false}; | ||
| bool m_isInputSet{false}; | ||
| bool m_isOutputValid{false}; |
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You should add the documentation for this
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| // Eigen::Matrix3d stepRot = m_state.footPose_R.rotation().inverse() * m_state.footPose_L.rotation(); | ||
| // Eigen::Vector3d stepRotRPY = toXYZ(stepRot); | ||
| // manif::SO3d stepRotManif = manif::SO3d(stepRotRPY(0), stepRotRPY(1), stepRotRPY(2)); | ||
| // manif::SE3d T_walkRot(m_noTras, stepRotManif); | ||
| // manif::SE3d temp = T_walkTras * T_walkRot * m_T_walk * m_T_yawDrift; |
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I will work on this starting from Monday since I will need it for running some test on the robot :) |
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