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Stable BaseEstimatorFromFootIMU. #792

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Stable BaseEstimatorFromFootIMU. #792

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Commits on Dec 5, 2023

  1. Fixed an issue with baseEstimatorFromFootIMU wich did not properly re… 

    …set the orientation info before each advance call
    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  2. Using IMU yaw insted of planned yaw

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    G-Cervettini committed Dec 5, 2023
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  3. Reverting last commit, using planned yaw to replace imu yaw

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    G-Cervettini committed Dec 5, 2023
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  4. Fixed rotation bug and using IMU yaw again

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    G-Cervettini committed Dec 5, 2023
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  5. Fixed bug regarding the use of IMU yaw

    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  6. Fixed foot sole local frame axes

    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  7. Code semplification in the translation calculation to spot the transl… 

    …ation discontinuities bug
    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  8. updating foot corners in inertial frame when foot is flat

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    G-Cervettini committed Dec 5, 2023
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  9. Modified the estimator to export foot corners position for debug

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    G-Cervettini committed Dec 5, 2023
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  10. Typo in comments

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    G-Cervettini committed Dec 5, 2023
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  11. It's finally working!

    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  12. Adding a translation to cyan dots so that they are fixed to the robot… 

    … foot
    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  13. Code updates related to first test on the robot

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    G-Cervettini committed Dec 5, 2023
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  14. Comment updates related to first test on the robot

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    G-Cervettini committed Dec 5, 2023
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  15. Better contact corner update, get CoM, code refactoring

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    G-Cervettini committed Dec 5, 2023
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  16. Minor code refactoring

    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  17. Minor visualization changes

    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  18. Edited class BaseEstimatorFromFootIMU to enable stance foot switch

    @G-Cervettini
    G-Cervettini committed Dec 5, 2023
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  19. Pose update fix. Calculating the offset at each step.

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    G-Cervettini committed Dec 5, 2023
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  20. Fixed stance foot corners visualization

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    G-Cervettini committed Dec 5, 2023
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Commits on Dec 18, 2023

  1. Fix discontinuity in the contact foot yaw angle while turning

    @G-Cervettini
    G-Cervettini committed Dec 18, 2023
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Commits on Jan 3, 2024

  1. Ignore delta Z between steps.

    @G-Cervettini
    G-Cervettini committed Jan 3, 2024
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Commits on Jan 4, 2024

  1. Added a zero translation vector as class member.

    @G-Cervettini
    G-Cervettini committed Jan 4, 2024
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  2. Improved setModel method, added debug console prints.

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    G-Cervettini committed Jan 4, 2024
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Commits on Jan 5, 2024

  1. Added warning for error between input and output feet rotations above… 

    … threshold.
    @G-Cervettini
    G-Cervettini committed Jan 5, 2024
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Commits on Jan 6, 2024

  1. Bug fix: yaw discontynuity at stance switch for the first of a direct… 

    …ion change.
    @G-Cervettini
    G-Cervettini committed Jan 6, 2024
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Commits on Jan 9, 2024

  1. Typo fix.

    @G-Cervettini
    G-Cervettini committed Jan 9, 2024
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Commits on Jan 11, 2024

  1. Avoid to call BufferedPort::prepare every time VectorsCollectionServe… 

    …r::VectorsCollectionServer is called
    @GiulioRomualdi @G-Cervettini
    GiulioRomualdi authored and G-Cervettini committed Jan 11, 2024
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Commits on Jan 12, 2024

  1. Revert unwanted changes.

    @G-Cervettini
    G-Cervettini committed Jan 12, 2024
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Commits on Jan 15, 2024

  1. Writing estimated pose to yarp port for the WalkingModule.

    @G-Cervettini
    G-Cervettini committed Jan 15, 2024
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Commits on Jan 16, 2024

  1. Changed from Bottle to yarp::sig::vector.

    @G-Cervettini
    G-Cervettini committed Jan 16, 2024
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Commits on Jan 18, 2024

  1. Added YarpRobotLoggerDevice config files for ergoCubGazeboV1_1.

    @G-Cervettini
    G-Cervettini committed Jan 18, 2024
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Commits on Feb 6, 2024

  1. Updated YarpRobotLogger for ergoCubGazeboV1_1

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    G-Cervettini committed Feb 6, 2024
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  2. Increased error threshold to limit warning messages.

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    G-Cervettini committed Feb 6, 2024
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Commits on Feb 13, 2024

  1. Adding feet IMU to yarp logger device.

    @G-Cervettini
    G-Cervettini committed Feb 13, 2024
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  2. Additional changes needed to actually log the imu data through the ya… 

    …rp logger.
    @G-Cervettini
    G-Cervettini committed Feb 13, 2024
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Commits on Feb 19, 2024

  1. Removed yarp write of the output from the estimator. This must be per… 

    …forned by the RFModule.
    @G-Cervettini
    G-Cervettini committed Feb 19, 2024
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Commits on Feb 29, 2024

  1. Added estimation of the floating base twist to the BaseEstimatorFromF… 

    …ootIMU.
    @G-Cervettini
    G-Cervettini committed Feb 29, 2024
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Commits on Mar 1, 2024

  1. Code refactoring for improved error handling.

    @G-Cervettini
    G-Cervettini committed Mar 1, 2024
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  2. Improved orientation error warning logic.

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    G-Cervettini committed Mar 1, 2024
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Commits on Mar 6, 2024

  1. Added a reset method for the BaseEstimatorFromFootIMU.

    @G-Cervettini
    G-Cervettini committed Mar 6, 2024
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  2. Specified type into variable declaration.

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    G-Cervettini committed Mar 6, 2024
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Commits on Mar 28, 2024

  1. Added TimeProfiler to BLF.

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    G-Cervettini committed Mar 28, 2024
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Commits on Mar 29, 2024

  1. Added time profiler inside System in BLF.

    @G-Cervettini
    G-Cervettini committed Mar 29, 2024
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Commits on Mar 31, 2024

  1. Final changes to TimeProfiler: changelog, clang-format and removed st… 

    …d::cerr.
    @G-Cervettini
    G-Cervettini committed Mar 31, 2024
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